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
The ballbot is a human sized, dynamically stable mobile robot that balances on a single, spherical wheel. The current framework for navigation and control makes the assumption that the robot is operating on a level surface without any center-of-mass offset; however, in practice, such a dynamically s…
This work presents a method for assisting people in getting out of chairs with a dynamically stable mobile robot. A user study is described in which force profiles and joint trajectories were recorded for a human-human sit-to-stand experiment. These data were used to develop an impedance-based contr…