Exploiting Physical Human-Robot Interaction to Provide a Unique Rolling Experience with a Riding Ballbot
Chenzhang Xiao, Seung Yun Song, Yu Chen, Mahshid Mansouri, Jo\~ao, Ramos, Adam W. Bleakney, William R. Norris, and Elizabeth T. Hsiao-Wecksler

TL;DR
This paper presents a novel hands-free control scheme for a ballbot using physical human-robot interaction, enabling manual wheelchair users to control the robot through torso movements for safe, agile indoor navigation.
Contribution
The study introduces an admittance control scheme integrated with pHRI for a dynamically stable ballbot, validated with users of varying torso mobility for improved control and safety.
Findings
HACS reduced braking effort and distance.
Validated with both experienced and novice users.
Demonstrated effective indoor navigation in complex environments.
Abstract
This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through torso leaning and twisting. The hardware platform, Personal Unique Rolling Experience (PURE), utilizes a ballbot drivetrain, a dynamically stable mobile robot that uses a ball as its wheel to provide omnidirectional maneuverability. To accommodate users with varying torso motion functions, the hanads-free control scheme should be adjustable based on the rider's torso function and personal preferences. Therefore, concepts of (a) impedance control and (b) admittance control were integrated into the control scheme. A duo-agent optimization framework was utilized to assess the efficiency of this rider-ballbot system for a safety-critical task: braking from 1.4 m/s. The candidate control schemes were further…
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Taxonomy
TopicsRobot Manipulation and Learning · Hand Gesture Recognition Systems · Social Robot Interaction and HRI
