Chenzhang Xiao — accepted AI-conference papers

2025

An Interactive Hands-Free Controller for a Riding Ballbot to Enable Simple Shared Control Tasks

Chenzhang Xiao, Seung Yun Song, Yu Chen, Mahshid Mansouri, João Ramos, William R. Norris +1

ICRA 2025

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) was previously integrated to allow riders with different torso functions to control the robot's movements via torso leanin

Cited by 1 Source ↗Scholar ↗

2023

Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload

Chenzhang Xiao, Mahshid Mansouri, David Lam, Joao Ramos, Elizabeth T. Hsiao-Wecksler

IROS 2023poster

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 stability. Two hardware platforms and analytical models were developed to test design and control methodologies. The full-scale…

Cited by 10 Source ↗Scholar ↗