OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel
Junjie Shen, Dennis Hong

TL;DR
OmBURo is a compact unicycle robot with an active omnidirectional wheel that can move and balance dynamically in tight, human-shared spaces, offering high maneuverability and dual-directional movement.
Contribution
This paper introduces OmBURo, a novel unicycle robot with an active omnidirectional wheel enabling simultaneous longitudinal and lateral movement and dynamic balancing.
Findings
Successfully demonstrated station keeping and path following.
Achieved dynamic balance using dual-axis wheeled inverted pendulum.
Showcased potential for use in human environments due to compact design.
Abstract
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well. Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectional wheel. The effect is that the unicycle robot can drive in both longitudinal and lateral directions simultaneously. Thus, it can dynamically balance itself based on the principle of dual-axis wheeled inverted pendulum. This letter discloses the early development of this novel unicycle robot involving the overall design, modeling, and control, as well as presents some preliminary results including station keeping and path following. With its very compact structure and agile mobility, it might…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsControl and Dynamics of Mobile Robots · Robotic Locomotion and Control · Robotic Path Planning Algorithms
