Modeling and Control of a Ballbot: A Systematic Approach
The ballbot is a type of mobile robot that achieves dynamic stability by maintaining balance on a spherical ball. Its control poses significant challenges due to its nonlinear and unstable nature, as well as its five degrees of freedom and underactuated system dynamics with dynamic constraints. To t...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11122477/ |
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