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Plan and History of the Tech-campaign of Hankook Tire Co., Ltd. |
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Sang-Eon Choi, Yun-Jung Kim, Jae-joon Ko(Innocean Worldwide, Korea) |
| Hankook Tire Co. Ltd. has launched a project whose brand name was “The Next Driving Lab (TNDL)” in 2013. TNDL is a tech-campaign that combines both technology and advertising and has enhanced innovative, challenging and cool image of Hankook Tire Co. Ltd. A ball Segway which is called as “Ball Pin Tire” is made for the 3rd project of the TNDL campaign. |
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Development of the Ball Segway Platform |
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HyunJin Kim, Do-Hyun Kim, Duck-Yong Kim(RNC CO., Ltd., Korea), Min-Kyoung Lee(Hanssem Co. Ltd. , Korea) |
| A ball segway that is a robotic vehicle with three omnidirectional wheels balancing on a ball is developed. The ball was made of a hollow aluminum sphere core that is covered by rubber. The ball segway is equipped with a driving mechanism by three omnidirectional wheels and two pairs of control moment gyroscopes (CMG) to keep balancing and to translate itself simultaneously. |
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Balancing and Translation Control of a Ball Segway That a Human Can Ride |
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Soon-Geul Lee, Pham Dinh Ba, Seungyup Back, Jaejun Kim(Kyung Hee University, Korea), Min-Kyoung Lee(Hanssem Co. Ltd. , Korea) |
| A ball segway, a ballbot-type robot that can carry a person is developed. The robot is of a sufficient size and has a car-like structure mounted on a single spherical tire with a seat that a human can ride. The robot’s dynamic model is considered separately in two orthogonal planes based on Lagrange equation and decoupling method. The model is then linearized. A double loop control system is proposed and applied to control balancing and station keeping and ransferring robot from point to point. Balancing and transferring performance of ball Segway is evaluated by experiments. |
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Modeling and Control system Design of a Ball Segway |
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Seungyup Back, Soon-Geul Lee(Kyung Hee University, Korea) |
| In this research, ball Segway, a robot with three omnidirectional wheels balancing on a ball, is introduced.
Translation while balancing is achieved by coordinating relative motions of the three omni-driving modules where each of them is composed of an omnidirectional wheel, a gear box and a smart motor. Kinematics and dynamics of the composed motion of the three omni-driving modules and the ball is decoupled into two orthogonal 2D motions and modeled with Lagrange equation. |
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