Volume 32 Issue 9-10 - Publication Date: August/September 2013

Integrated motion planning and control for graceful balancing mobile robots

Umashankar Nagarajan, George Kantor and Ralph Hollis

The International Journal of Robotics Research 2013 32: 1005–1029

Downloadable Files

Demonstration of the ballbot achieving fast and graceful motions by manually switching between gracefully composable motion policies (1.27 mb)
Demonstration of the ballbot autonomously navigating an obstacleridden environment to successfully achieve point–point motions while handling disturbances, and also to achieve a surveillance motion withfour goals. It also shows the ballbot achieving a point–point motion while replanning in real-time to successfully avoid dynamic obstacles (6.58 mb)

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