The ballbot: An omnidirectional balancing mobile robot
The ballbot: An omnidirectional balancing mobile robot
复制标题
Ballbot：全向平衡移动机器人
DOI：
--
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
R. Hollis
中科院分区：
文献类型：
--
作者：
Umashankar Nagarajan;G. Kantor;R. Hollis
球型机器人是一种人体大小的动态稳定的移动机器人，可以在一个球上保持平衡。与静态稳定的移动机器人不同，球型机器人又高又窄，重心高，占地面积小。此外，它的动态稳定性使它能够进行物理交互。这些特点使其更适合在杂乱的人类环境中导航和交互。本文介绍了球体机器人的改进硬件设计，该机器人具有四轮反鼠标球驱动机构来驱动球，以及能够绕其垂直轴无限旋转的偏航驱动机构。这种球型机器人还有三条腿，可以在断电时提供静态稳定性。本文详细描述了球型机器人的控制结构，并给出了几个实验结果，证明了其平衡和运动能力。本文还提出了一种轨迹规划算法来规划身体倾斜运动，当跟踪到这些运动时，机器人就会产生期望的静止到静止的运动。最后，给出了球型机器人的动态稳定性所能实现的一些有趣的人-机器人物理交互行为。
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 paper presents the evolved hardware design of the ballbot with a four-wheel inverse mouse-ball drive to actuate the ball, and a yaw drive mechanism that enables unlimited rotation about its vertical axis. The ballbot also has a triad of legs that provide static stability when powered down. This paper presents a detailed description of the ballbot’s control architecture, and it presents several experimental results that demonstrate its balancing and locomotion capabilities. This paper also presents a trajectory planning algorithm that plans for body lean motions, which, when tracked, result in the desired rest-to-rest motions of the robot. Finally, the paper illustrates some interesting human–robot physical interaction behaviors that can be achieved as a result of the ballbot’s dynamic stability.