Ballbots: Development, Principles, and Applications

Explore the fascinating world of "ballbots" in this comprehensive lecture by Professor Emeritus Ralph L. Hollis from Carnegie Mellon University. Trace the development of the first successful single-wheeled spherical robot, invented by Hollis in 2004. Learn about the basic principles of ballbots, including balancing, station keeping, and navigation using LIDAR or visual SLAM. Discover how the addition of arms to the ballbot body expands its potential applications, such as lifting and transporting large payloads. Delve into the innovative closed-loop spherical motor (SIM) technology that led to the creation of "SIMbot," a simplified mobile robot consisting of only a body and a ball. Finally, get introduced to "Shmoobot," a smaller and more cost-effective ballbot designed for research and education in motion planning, control, and human-robot interaction.