A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive - Robotics Institute Carnegie Mellon University

A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive

Tom Lauwers, George A. Kantor, and Ralph Hollis
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2884 - 2889, May, 2006
View Publication

Abstract

Multi-wheel statically-stable mobile robots tall enough to interact meaningfully with people must have low centers of gravity, wide bases of support, and low accelerations to avoid tipping over. These conditions present a number of performance limitations. Accordingly, we are developing an inverse of this type of mobile robot that is the height, width, and weight of a person, having a high center of gravity, that balances dynamically on a single spherical wheel. Unlike balancing 2-wheel platforms which must turn before driving in some direction, the single-wheel robot can move directly in any direction. We present the overall design, actuator mechanism based on an inverse mouse-ball drive, control system, and initial results including dynamic balancing, station keeping, and point-to-point motion.

BibTeX

@conference{Lauwers-2006-9475,
author = {Tom Lauwers and George A. Kantor and Ralph Hollis},
title = {A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2006},
month = {May},
pages = {2884 - 2889},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.