Stastaball: Design and Control of a Statically Stable Ball Robot

Ballbots are omnidirectional robots in which a robot chassis is built and balanced on top of ball, thereby allowing for highly manoeuvrable platform planar surface. However, the stability such performed dynamically with use suitable controller, thus, power to must be continually maintained. In this paper, novel approach ballbot design presented unpowered static maintained mechanically by choice position centre mass robot. The simulations prototype evidence feasibility an approach, demonstrating performance parameters three degrees freedom movement, linear speeds 0.05 m/s, rotation angular speed 1 rad/s ability traverse inclines up 3°. Limitations were predominantly due compressibility ball used motors. Areas future development address these issues suggested.