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Foundations of Robotics
Seminar, October 25, 2005
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
The Ballbot Project:
Dynamic Stability for Indoor Mobile Robots
Ralph Hollis
1507 Newell-Simon Hall
Refreshments 4:15 pm
Talk 4:30 pm
We postulate that multi-wheel
statically-stable mobile robots for operation in human environments are an
evolutionary dead end. Robots of this class tall enough to interact meaningfully
with people must have low centers of gravity, overly wide bases of support, and
very low accelerations to avoid tipping over.
Accordingly, we are developing an inverse of this type of mobile robot
that is the height, width, and weight of a person, having a high center of
gravity, that balances dynamically on a a single spherical wheel. Unlike
balancing 2-wheel platforms which must turn before driving in some direction,
the single-wheel robot can move directly in any direction.
We present the overall design, actuator
mechanism based on an inverse mouse-ball drive, control system, and initial
results including dynamic balancing, station keeping, and point-to-point
motion.
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Speaker Appointments |
For appointments, please contact Ralph
Hollis (rhollis@cs.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.