Enabling Shared-Control for A Riding Ballbot System

This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement, and hands-free interface. Integrated with a sensor array and a novel Passive Artificial Potential Field (PAPF) method, P...

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Veröffentlicht in:	arXiv.org 2024-09
Hauptverfasser:	Chen, Yu, Mansouri, Mahshid, Xiao, Chenzhang, Wang, Ze, Hsiao-Wecksler, Elizabeth T, Norris, William R
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Balancing Collision avoidance Control systems Control theory Dynamic stability Human engineering Indoor navigation Obstacle avoidance Potential fields Robot control Sensor arrays Wheelchairs
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