{"paper":{"title":"The Hbot : A Holonomic Spherical Haptic Interface Driven by Non-Holonomic Wheels","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Wisdom C. Agboh","submitted_at":"2018-03-21T13:42:56Z","abstract_excerpt":"We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven non-holonomic wheels to produce continuous and unlimited spherical motions. We analyse the kinematic interface between a sphere and $n$ arbitrarily positioned, steered and driven non-holonomic wheels in the general case. We also present a detailed singularity analysis and show that workspace-boundary and workspace-interior singularities can both be avoided at the design stage. We implement a prototype using two steered and driv"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.07917","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}