Implementations relate to a brake mechanism for a spherical wheel. In some implementations, a wheel mechanism includes a spherical wheel and a base coupled to the spherical wheel via a rotary bearing contacting a surface of the spherical wheel, where the rotary bearing is configured to allow the spherical wheel to rotate. The wheel mechanism includes a brake ring coupled to the base and configured to selectively engage and disengage the surface of the spherical wheel, where the brake ring provides friction opposing rotation of the spherical wheel when engaged.

Implementations relate to a brake mechanism for a spherical wheel. In some implementations, a wheel mechanism includes a spherical wheel and a base coupled to the spherical wheel via a rotary bearing contacting a surface of the spherical wheel, where the rotary bearing is configured to allow the spherical wheel to rotate. The wheel mechanism includes a brake ring coupled to the base and configured to selectively engage and disengage the surface of the spherical wheel, where the brake ring provides friction opposing rotation of the spherical wheel when engaged.

Implementations relate to a spherical wheel drive and mounting. In some implementations, a wheel mechanism includes a spherical wheel, a base, and a rotary bearing coupled to the base and contacting a surface of the spherical wheel, where the rotary bearing configured to allow the spherical wheel to rotate. The wheel mechanism includes an omni wheel coupled to the base and engaged with a surface of the spherical wheel, and an actuator coupled to the base and to the omni wheel, where the actuator configured to rotate the omni wheel to cause rotation of the spherical wheel.

An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

A magnetically coupled ball drive system for actuation of spherical surfaces and wheels is disclosed. An internal support structure interacts with exterior drive wheels magnetically to produce rotational motion. A related improvement involving reduction of slip due to insufficient traction is also presented to establish a design for a more robust and versatile device that can be used in robotics or for producing vehicle locomotion.

A magnetically coupled ball drive system for actuation of spherical surfaces and wheels is disclosed. An internal support structure interacts with exterior drive wheels magnetically to produce rotational motion. A related improvement involving reduction of slip due to insufficient traction is also presented to establish a design for a more robust and versatile device that can be used in robotics or for producing vehicle locomotion.

This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

This disclosure describes a low-profile, high-load, and hands-free ball-balancing omnidirectional rolling system with multiple human-robot interfaces for modular and adaptive design configurations and input control interfaces. The disclosed platform uses a self-balancing ball-based robot to allow for a safe, compact, high-load, self-balancing and intuitive mobility device for a person with lower-limb disability. Advanced driving assistance such as obstacle avoidance and semi-autonomous navigation between predefined locations is also disclosed.

A ball-balancing drive assembly includes a ball having a ball surface and a reference axis extending through a centroid of the ball. Three omniwheel assemblies, each having a motor with a motor axle and an omniwheel configured to rotate around the motor axle are mounted on a chassis configured for supporting the three omniwheel assemblies at radially symmetric spacings with the motor axles oriented at an angle relative to the reference axis and the omniwheels oriented in mutually-orthogonal planes. Each omniwheel frictionally contacts the ball surface to convert rotational motion of the motor axle to torque on the ball.