Three omni-wheel ballbot optimum implementation

This paper presents novel three-wheel optimum implementation of a ballbot, a robotic platform mounted on a sphere with a single point of contact with the ground. The ballbot´s purpose is to maintain meta-stable equilibrium and to offer possibility of movement based on user input. Thus, we offer a study on the decisions that support the hardware design of this non-linear unstable system, along with a basic control system, reproducible in laboratory settings, both from research and educational approaches.