3 accepted papers
We give a system overview and initial experimental results for SIMbot (spherical induction motor based ballbot), a human-sized dynamically stable mobile robot with only two active moving parts. SIMbot is a qualitatively new kind of robot with the potential to drastically reduce mechanical complexity
Spherical motors are classified as multi-degrees-of-freedom actuators. Several types of spherical motors are under investigation in the world because they will be useful for robots that currently use combination of 2 or 3 one-degree-of-freedom motors. However, most of the previous works mainly demon
This paper describes the design, construction, and operation of a closed-loop spherical induction motor (SIM) ball wheel for a balancing mobile robot (ballbot). Following earlier work, this new design has a smaller rotor and higher torques due to the use of six stators in a skewed layout. Actuation…