Romansy 16 pp 347-354 | Cite as

Development and Control of Wheeled Vehicle that Balances on a Rolling Basketball

  • Tatsuro Endo
  • Yosihiko Nakamura
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper describes on development and control of a vehicle that moves on a spherical rubber tire. The vehicle obtains 3DOF mobility by rolling the tire and balancing on it. We selected a basketball as a spherical tire, because a rubber tire has three major features, namely durability, ground adaptability and force transferability. Using a basketball as a spherical tire can provide the vehicle with the above-mentioned advantages at low-cost. We discuss mechanical design and statics of the vehicle and its driving system. The statics formulates the force distribution problem among redundant actuators. We also show a preliminary design of controller and the result of experiments.


Mobile Robot Rubber Tire Angular Velocity Vector Redundant Actuator Wheel Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Tatsuro Endo
    • 1
  • Yosihiko Nakamura
    • 1
  1. 1.Department of Mechano-InformaticsUniversity of TokyoTokyo

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