This work develops the equations of motion for the ballbot system on a sloped surface with a center-of-mass offset. The equilibria of this system are analyzed, ...

This shift in equilibrium caused by the slope angle γ and the center-of-mass offset angle α affects the operation of the ballbot while running the ballbot ...

This work develops the equations of motion for the ballbot system on a sloped surface with a center-of-mass offset. The equilibria of this system are analyzed, ...

The equilibria of this system are analyzed, and a compensation strategy is formulated that allows the ballbot to operate in the presence of slopes and ...

This work develops the equations of motion for the ballbot system on a sloped surface with a center-of-mass offset. The equilibria of this system are analyzed, ...

The equilibria of this system are analyzed, and a compensation strategy is formulated that allows the ballbot to operate in the presence of slopes and center-of ...

The ballbot exhibits several features that make it better suited to human environments than traditional “statically stable” robots that do not actively balance.

Operation of the ballbot on slopes and with center-of-mass offsets · Bhaskar ... center-of-mass offset angles during station-keeping and trajectory following.

Feb 28, 2023 · This project re-designs the conventional ballbot by shifting the centre of mass of the robot below the ball's centre of mass whilst keeping ...

A ballbot is an extremely agile mobile system due to its natural instability. In order to perform complex motions at high speeds, a sophisticated controller ...