1 citations · 1 across the 4 of their papers we have counts for
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An Interactive Hands-Free Controller for a Riding Ballbot to Enable Simple Shared Control Tasks
Chenzhang Xiao, Seung Yun Song, Yu Chen +4
Our team developed a riding ballbot (called PURE) that is dynamically stable, omnidirectional, and driven by lean-to-steer control. A hands-free admittance control scheme (HACS) wa…
Exploiting Physical Human-Robot Interaction to Provide a Unique Rolling Experience with a Riding Ballbot
Chenzhang Xiao, Seung Yun Song, Yu Chen +5
This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through…
Enabling Shared-Control for A Riding Ballbot System
Yu Chen, Mahshid Mansouri, Chenzhang Xiao +3
This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement,…
Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload
Chenzhang Xiao, Mahshid Mansouri, David Lam +2
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stabili…