The ballbot: An omnidirectional balancing mobile robot

The ballbot: An omnidirectional balancing mobile robot

The ballbot is a human-sized dynamically stable mobile robot that balances on a single ball. Unlike statically stable mobile robots, the ballbot is tall and narrow with a high center of gravity and a small footprint. Moreover, its dynamic stability enables it to be physically interactive. These characteristics make it better suited to navigate and interact in cluttered human environments. This ...

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

Reinforcement learning on an omnidirectional mobile robot

With this paper we describe a well suited, scalable problem for reinforcement learning approaches in the field of mobile robots. We show a suitable representation of the problem for a reinforcement approach and present our results with a model based standard algorithm. Two different approximators for the value function are used, a grid based approximator and a neural network based approximator.

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Motion control of an omnidirectional mobile robot