Original upload date: Fri, 23 Sep 2011 00:00:00 GMT
Archive date: Sat, 04 Dec 2021 20:18:45 GMT
This video demonstrates the ballbot's capability to use its arms for motion. We added a pair of 2-DOF arms to the robot. Earlier, we used just the body lean trajectories to achieve desired motions on
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the floor but now we demonstrate the use of arms to achieve desired motions on the floor. The user can choose the contribution percentage between body lean and arm motion and my shape trajectory planner will provide trajectories for both the body lean and the arm angle, which when tracked will result in optimal tracking of desired position trajectories.
The ballbot page:
http://www.msl.ri.cmu.edu/projects/ballbot/
My page:
http://www.cs.cmu.edu/~unagaraj/
