Volume 32 Issue 11 - Publication Date: September 2013

Shape space planner for shape-accelerated balancing mobile robots

Umashankar Nagarajan, and Ralph Hollis

The International Journal of Robotics Research 2013 32: 1323–1341

Downloadable Files

This video shows the ballbot achieving several desired motions in the position space using pure body motions, pure arm motions, and combinations of the two. It also shows the ballbot achieving desired ball motions while the arms are constrained.(5.22 mb)

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