4 papers
Rollbot 2: Agile Locomotion by a Single-Actuator Spherical Robot
Jingxian Wang*, Chen Yu*, Sam Kriegman +1
Reducing actuator count simplifies robot hardware but also removes independent inputs for maneuvering. The original Rollbot steered by modulating a quasi-stable helical orbit, but…
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,…