Abstract
This paper proposes a robot balanced on a ball. In contrast to an inverted pendulum with two wheels, such as the Segway. The robot proposed in this paper is equipped with three omnidirectional wheels with DC motors that drive the ball and two sets of rate gyroscopes and accelerometers as measurement sensors. The robot has a simple design. Inverted pendulum control is applied in two axes for stabilization, and commanded motions are converted into velocity commands for the three wheels. The mechanism, control method, and experimental results described in this paper.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
