2020
Path-Following Model Predictive Control of Ballbots
Thomas K. Jespersen, Mohammad al Ahdab, Juan de Dios F. Mendez, Malte R. Damgaard, Karl D. Hansen, Rasmus Pedersen +1
ICRA 2020poster
This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbo…