Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload
Chenzhang Xiao,Mahshid Mansouri,David Lam,Joao Ramos,Elizabeth T. Hsiao-Wecksler,Chenzhang Xiao,Mahshid Mansouri,David Lam,Joao Ramos,Elizabeth T. Hsiao-Wecksler
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stability. Two hardware platforms and analytical models were developed to test design and control methodologies. The full-scale ballbot prototype (MiaPURE) was constructed using off-the-shelf components and designed to have agi...
