Development of a robot balanced on a ball - Application of passive motion to transport -

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 4106-4111

  Kumaga, Masaaki ^a   Ochiai, Takaya ^a  

^a TOHOKU GAKUIN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; ATTITUDE CONTROL; GYROSCOPES; LIGHT ELECTRIC VEHICLES; MACHINE DESIGN; PENDULUMS; STEPPING MOTORS; WHEELS;

ATTITUDE SENSORS; CONTROL METHODS; INVERTED PENDULUM; OMNIDIRECTIONAL WHEEL; PASSIVE MOTION; SEGWAY HUMAN TRANSPORTERS; TWO WHEELED ROBOTS; VERTICAL AXIS;

ROBOTS;

EID: 85072560187     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152324     Document Type: Conference Paper

References (8)

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2. T.B. Lauwers, G.A. Kantor, R.L. Hollis, "A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive," Proc. ICRA 2006, 2006, pp 2884-2889
3. T. Endo, Y. Nakamura, "An Omnidirectional Vehicle on a Basketball," Proc. ICAR'05, 2005, pp 573-578
4. N. Shiroma, O. Matsumoto, S. Kajita, K. Tani, "Cooperative Behavior of a Wheeled Inverted Pendulum for Object Tranportation," Proc. IROS 96, 1996, pp 396-401
5. D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, T. Mishima, "Development of Omni-directional Vehicle with Step-Climbing Ability," Proc. ICRA 2003, 2003, pp3849-3854
6. H. Asama, H. Kaetsu, I. Endo, M. Sato, "Wheel for Omnidirectional Mobile Robot," JP-patent no.3421290, 2003
7. M. Kumagai, T. Ochiai, "Development of a Robot Balancing on a Ball," Proc. ICCAS 2008, 2008, pp 433-438
8. C.Y. Chung, J.W. Lee, S.M. Lee, B.H. Lee, " Balancing of an Inverted Pendulum with a Redundant Direct-Drive Robot," Proc. ICRA 2000, 2000, pp 3952-3957