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This paper presents the design and control of a ballbot drivetrain that aimsto achieve high agility, minimal footprint, and high payload capacity whilemaintaining dynamic stability. Two hardware platforms and analytical modelswere developed to test design and control methodologies. The full-scale ballbotprototype (MiaPURE) was constructed using off-the-shelf components and designedto have agility, footprint, and balance similar to that of a walking human. Theplanar inverted pendulum testbed (PIPTB) was developed as a reduced-ordertestbed for quick validation of system performance. We then proposed a simpleyet robust LQR-PI controller to balance and maneuver the ballbot drivetrainwith a heavy payload. This is crucial because the drivetrain is often subjectto high stiction due to elastomeric components in the torque transmissionsystem. This controller was first tested in the PIPTB to compare withtraditional LQR and cascaded PI-PD controllers, and then implemented in theballbot drivetrain. The MiaPURE drivetrain was able to carry a payload of 60kg, achieve a maximum speed of 2.3 m/s, and come to a stop from a speed of 1.4m/s in 2 seconds in a selected translation direction. Finally, we demonstratedthe omnidirectional movement of the ballbot drivetrain in an indoor environmentas a payload-carrying robot and a human-riding mobility device. Our experimentsdemonstrated the feasibility of using the ballbot drivetrain as a universalmobility platform with agile movements, minimal footprint, and high payloadcapacity using our proposed design and control methodologies.

Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload