Name
Abstract | ||
|---|---|---|
This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The robot balances it on a ball and gives to the system only one contact point with the ground. This allows to reduce the friction and the space needed by the system to turn around a point. This is a major feature for a mobile vehicle, considering that most of them rotate their whole body to obtain a change in direction. The proposed platform is self-contained with on-board sensing and computation, it uses only off-the-shelf components and is designed to perform maneuvers when operating in tight spaces as in the human environments. The proposed embedded system is based on a general pourpose embedded board equipped with a 32bit microcontroller which is able to manage all the basic tasks of this robotic platform: sensing, actuation, control and communication. The proposed system is described and initial experimental results are introduced, furthermore the challenges faced are presented. |
Year | Venue | Keywords |
|---|---|---|
2015 | 2015 12th International Workshop on Intelligent Solutions in Embedded Systems (WISES) | embedded system,ballbot robotic platform,omnidirectional mobile robot,off-the-shelf component,32bit microcontroller |
Field | DocType | Citations |
Ballbot,Rotation,Mobile vehicle,Computer science,Simulation,DC motor,Microcontroller,Robot,Mobile robot,Embedded system,Computation | Conference | 0 |
PageRank | References | Authors |
0.34 | 2 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| A. Bonci | 1 | 24 | 7.13 |
| Massimiliano Pirani | 2 | 19 | 6.59 |
| Massimiliano Rossi | 3 | 1 | 1.71 |
| Enrico Maria Gabbanini | 4 | 0 | 0.34 |