- State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Umashankar Nagarajan, Anish Mampetta, George A. Kantor, and Ralph Hollis
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009), May, 2009, pp. 998 - 1003.
pdf (1MB) | Copyrighted
- Automatic Transition of Ballbot from Statically Stable State to Dynamically Stable State
master's thesis, tech. report CMU-RI-TR-06-41, Robotics Institute, Carnegie Mellon University, September, 2006