Special Issue — Advanced Intelligence Systems for Humanoid Robotics; Guest Editors: Z. Ju, N. Kubota, J. Lee and H. LiuNo Access

Optimal Control of an Inverted Ball-Driving Robot Based upon Slip Patterns

Howon Lee

Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea

E-mail Address: ho1love@pusan.ac.kr

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and

Jangmyung Lee

http://orcid.org/2378-2378-2378-2378

Department of Electrical Engineering, Pusan National University, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea

E-mail Address: jmlee@pusan.ac.kr

Corresponding author.

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https://doi.org/10.1142/S021984361850007XCited by:0 (Source: Crossref)

Abstract

This paper proposes a precise driving control algorithm by utilizing the slip pattern of an inverted ball-driving robot with Mecanum wheels. The slip pattern of the ball-driving robot has an eight-leaves flower shape, which can be utilized to plan the driving direction of the ball-robot and to minimize the slip. When there exists the slip, the localization of the ball-robot becomes very coarse because of the uncertainties caused by the slip. By minimizing the slip using the analyzed slip pattern, the precise driving of the inverted ball-driving robot with Mecanum wheels can be achieved. Real experiments with a self-manufactured ball-robot have been carried out to show the preciseness of the driving based upon the proposed algorithm compared to the conventional algorithms.

Keywords:

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