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A ballbot is a dynamically-stable mobile robot designed to balance on a single spherical wheel (''i.e.'', a ball). Through its single contact point with the ground, a ballbot is omnidirectional and thus exceptionally agile, maneuverable and organic in motion compared to other ground vehicles. Its ''dynamic stability'' enables improved navigability in narrow, crowded and dynamic environments. The ballbot works on the same principle as that of an inverted pendulum. ==Ballbots Around The World== The first successful ballbot was developed in 2005 by (Prof. Ralph Hollis ) at Carnegie Mellon University (CMU), Pittsburgh, USA and it was patented in 2010 . The (CMU Ballbot )〔 〔(【引用サイトリンク】title=CMU Ballbot on Discovery Channel's Daily Planet )〕 〔(【引用サイトリンク】title=CMU Ballbot on ROBORAMA )〕 〔(【引用サイトリンク】title=CMU Ballbot on UK's Gadget Show )〕 is built to be of human size, both in height and foot print. Prof. Hollis and his group at CMU demonstrated that the ballbot can be robust to disturbances including kicks and shoves, and can also handle collisions with furniture and walls .〔(【引用サイトリンク】title=CMU Ballbot: Overview )〕 They showed that a variety of interesting human-robot physical interaction behaviors can be developed with the ballbot ,〔(【引用サイトリンク】title=CMU Ballbot: Human-Robot Physical Interaction )〕 and presented planning and control algorithms to achieve fast, dynamic and graceful motions using the ballbot 〔(【引用サイトリンク】title=CMU Ballbot: Fast Motions )〕 .〔(【引用サイトリンク】title=CMU Ballbot: Fast, Graceful Maneuvers )〕 They also demonstrated the ballbot's capability to autonomously navigate human environments to achieve point-point and surveillance tasks .〔(【引用サイトリンク】title=CMU Ballbot: Autonomous Graceful Navigation )〕 A pair of two degrees of freedom (DOF) arms was added to the CMU Ballbot〔 in 2011 making it the first and currently, the only ballbot in the world with arms 〔(【引用サイトリンク】title=CMU Ballbot: Motion with Arms )〕 .〔(【引用サイトリンク】title=CMU Ballbot: Motions with Constraints on Arms )〕 In 2005, around the same time when CMU Ballbot〔 was introduced, a group of researchers at University of Tokyo independently presented the design for a human-ridable ballbot wheelchair that balances on a basketball named ''B. B. Rider'' . However, they reported only the design and never presented any experimental results.〔 Around the same time, László Havasi from Hungary independently introduced another ballbot called ''ERROSphere'' . The robot did not reliably balance and no further work was presented. Since the introduction of CMU Ballbot〔 in 2005, several other groups around the world have developed ballbots. (Prof. Masaaki Kumagai ) developed ''BallIP'' in 2008 at Tohoku Gakuin University, Japan. Prof. Kumagai and his group demonstrated the capability of ballbots to carry loads and be used for cooperative transportation. They developed a number of small ballbots and demonstrated cooperative transportation using them 〔 .〔(【引用サイトリンク】title=BallIP on IEEE Spectrum )〕 A group of mechanical engineering students at ETH Zurich, Switzerland developed (Rezero ) in 2010. Rezero re-emphasized the fast and graceful motions that can be achieved using ballbots .〔(【引用サイトリンク】title=Rezero on TED Talks )〕 Tomás Arribas (Spain) developed the first ballbot using LEGO Mindstorms NXT in 2008 as the Master Project at University of Alcala.〔Tomás Arribas (August 2008). http://www.youtube.com/watch?v=FZ5K0tZ2ZOk〕〔https://www.youtube.com/watch?v=5Eau8y-yhPc〕 He developed a simulation project with Microsoft Excel to easily simulate the system.〔http://ballbotexcel.blogspot.com.es/2011/01/nxt-ballbot-simulation-with-microsoft.html〕 As part of the research carried out inside the Space Research Group of the University of Alcalá (SRG-UAH), Spain, the work team, specialised in optimal control and planning applied to non-linear dynamic systems, published in 2012 the article called "A Monoball Robot Based on LEGO Mindstorms"〔( S. Sánchez, T. Arribas, M. Gómez and O. Polo, “A Monoball Robot Based on LEGO Mindstorms,” IEEE Control Systems Magazine, vol. 32, no. 2, pp. 71-83, 2012.)〕 This article describes the math model and trajectory control as a baseline to unstable and non-linear control systems. Yorihisa Yamamoto (Japan) inspired by Tomás Arribas's project, developed a ballbot using LEGO Mindstorms NXT in 2009 .〔(【引用サイトリンク】title=LEGO NXT Ballbot )〕 He created a detailed demo to build, model and create controllers using MATLAB.〔 A group of mechanical engineering students at University of Adelaide (Australia) developed both a LEGO Ballbot and a full-scale Ballbot in 2009 .〔(【引用サイトリンク】title=Ballbot at University of Adelaide )〕 A group of students from ITMO University (Russia) introduced an algorithm and constructed a Ballbot based on LegoNXT robotics kit which performed stability with only two actuators used.〔(【引用サイトリンク】url=http://ntv.ifmo.ru/en/article/858/sistema_i_algoritmy_stabilizacii_bolbota.htm )〕 There are a number videos on YouTube that present several ballbots developed around the world. Several of them have been developed using LEGO Mindstorms NXT 〔http://www.youtube.com/watch?v=gKMl8G44U4E〕 〔http://www.youtube.com/watch?v=F7k9p1sOfEE&NR=1〕 〔http://www.youtube.com/watch?v=-r3xxI4yQ9A〕 〔http://www.youtube.com/watch?v=OAc1ipVpn3k〕 .〔http://www.youtube.com/watch?v=L-J7zymXuxI〕 While several other custom designs use omni-wheels to actuate the ball 〔http://www.youtube.com/watch?v=a94z9p3vU-c〕 〔http://www.youtube.com/watch?v=7Ib3l9KYbBM〕 〔http://www.youtube.com/watch?v=uSKhixP-d-Y〕 .〔http://www.youtube.com/watch?v=J0PnIyyydPE〕 Ballbots have also appeared in the Science Fiction World. Pixar's Wall-E (2008) movie featured ''M-O'' (Microbe Obliterator), a ballbot cleaning robot. Syfy's Caprica TV series (2010) featured ''Serge'',〔http://en.battlestarwiki.org/wiki/Serge〕 a ballbot butler robot. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Ballbot」の詳細全文を読む スポンサード リンク
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