In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• 김순철(Electrical and Information Engineering, Seoul National University of Science and Technology) | Kim, Soon-Cheol
• 이수영( Electrical and Information Engineering, Seoul National University of Science and Technology) | 이수영
• 최재석( Electrical and Information Engineering, Seoul National University of Science and Technology) | 최재석