Design and Development of a Dynamically-Balancing Holonomic Robot

Abstract

This paper describes the design, control, and construction
\nof Golem Wing, the first vehicle which both balances
\ndynamically and has entirely holonomic ground movement.
\nA nonstandard linear arrangement of mecanum wheels gives
\nit the load-lifting, performance, and manipulation benefits of
\na dynamically-balancing platform without the maneuvering
\ndifficulties exhibited by previous balancing platforms. We show
\nthat the arrangement is capable of holonomic motion, describe
\na controller that maintains dynamic balance during holonomic
\nmotion, and show an implementation of the system in hardware
\nthat validate our assertions.