OmniRide: A personal vehicle with 3 DOF mobility

This paper deals with a newly-developed personal electric vehicle, which is named OmniRide. It uses a single rubber sphere as its wheel and possesses the dynamic stability on the road surface of variety of slopes. Since it has asymmetric structure unlike similar mobile robots on a sphere, its complete dynamic model plays significant role in controller design; the major part of this paper is devoted to the description of OmniRide and development of the mathematical model. Linear state feedback controllers achieve the stabilization in experiments as well as numerical simulations, which validates the dynamic model.