Design and Modelling of Omnibola©, A Spherical Mobile Robot

@inproceedings{Jaimez2012DesignAM,
  title={Design and Modelling of Omnibola©, A Spherical Mobile Robot},
  author={Mariano Jaimez and Juan Jos{\'e} Contreras Castillo and Francisco Jos{\'e} Garc{\'i}a and Jos{\'e} Antonio Cabrera},
  year={2012}
}
A spherical mobile robot called Omnibola© is introduced and analyzed in this article. Some advantages of this kind of robot compared with typical wheeled robots are described. Its geometry and its features are presented, emphasizing on those which make it different from other ball-shaped robots. A mathematical model has been developed to have a tool to study our robot dynamics. We conducted some experiments to confirm that model results are similar to experimental results observed in the real… CONTINUE READING

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