Single Unit Mobility



The CYCOGS® company wishes to inform our web site visitors with some useful AI Robotic information.  Please note, the CYCOGS® company owns and or controls the copyright of all material in this website.  The content of the “ Education ” portion of this web site is still under the CYCOGS® company registered copyright protection.

This is the case for Single Unit Mobility Type.

This is the case for a device having only one point of surface contact using a single wheel or ball.  This design needs additional motivation forces to operate and move.  This requires two or more motors for steering and propulsion and precision in movements may be lacking.  Some designs are internal, with a low  center of gravity  (CG) driven,  counter weight design using gravity to roll the vehicles outside body.  Some designs are  inverse pendulum based,  a tall vehicle with a lower control ball or wheel. 

Ball BotBall Bot Moves

Forces such as gravity and inertia are used to control its movements, such as the robot leans to control the direction of travel.  Here are some equivalent examples

Tall Ball BotTall Unicycle

A single-wheel wheel-barrow: 
it requires human support, balance, muscles and gravity. 
The Ball-bot  /  Unibot, which is equivalent to the Unicycle, it uses inertia and gravity forces to control its movements. 
The Internal ball or balloon counter weight driven body roll vehicle or robot.  Some examples include the Spero Sphero ball or dome robot.  Similar to what was illustrated in a recent space war movie. 
These operate using   2 DoF   in the   X-Y   directions in a   3D   work space, thus they are   not Holonomic .

Degrees of Freedom

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