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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. Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 376-383, IEEE, 2023. [doi]

Authors

Chenzhang Xiao

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Mahshid Mansouri

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David Lam

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Joao Ramos

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Elizabeth T. Hsiao-Wecksler

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