The ballbot: An omnidirectional balancing mobile robot

@article{Nagarajan2014TheBA,
  title={The ballbot: An omnidirectional balancing mobile robot},
  author={Umashankar Nagarajan and George A. Kantor and Ralph L. Hollis},
  journal={The International Journal of Robotics Research},
  year={2014},
  volume={33},
  pages={917 - 930}
}
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… 
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