Skip to main content

Research Repository

Advanced Search

Ballbot Simulation System: Modeling, Verification, and Gym Environment Development

Nashat, Abdelrahman; Morsi, Abdelrahman; Hassan, Mohamed M.M.; Abdelrahman, Mustafa

Authors

Abdelrahman Nashat

Abdelrahman Morsi

Mohamed M.M. Hassan



Abstract

This paper introduces the development of a sophisticated simulation model for the ball-balancing robot (ballbot), implemented as a Gymnasium (Gym) environment in Python. The main purpose of this environment is to facilitate the application of Reinforcement Learning (RL) techniques to effectively control the ballbot system. Initially, a standard ballbot model is created using Solidworks, and a Unified Robot Description Format (URDF) file is generated to precisely capture the dynamics of the ballbot. To validate the model, simulations are performed within MATLAB/Simulink, comparing the ballbot URDF model against its nonlinear mathematical model with a simple PID controller. The simulation results demonstrate that the URDF model accurately represents the ballbot dynamics, exhibiting a comparable response to the mathematical model. Subsequently, the high-fidelity URDF model is integrated into the Gym environment using the Pybullet simulator. The ongoing objective of this research is to utilize the developed ballbot environment for RL-based control design.

Citation

Nashat, A., Morsi, A., Hassan, M. M., & Abdelrahman, M. (2023, November). Ballbot Simulation System: Modeling, Verification, and Gym Environment Development. Presented at 2023 Eleventh International Conference on Intelligent Computing and Information Systems (ICICIS), Cairo, Egypt

Presentation Conference Type Conference Paper (published)
Conference Name 2023 Eleventh International Conference on Intelligent Computing and Information Systems (ICICIS)
Start Date Nov 21, 2023
End Date Nov 23, 2023
Acceptance Date Nov 1, 2023
Online Publication Date Jan 18, 2024
Publication Date Jan 18, 2024
Deposit Date Feb 24, 2024
Publicly Available Date Mar 10, 2025
Peer Reviewed Peer Reviewed
Pages 198-204
Series Title International Conference on Intelligent Computing and Information Systems (ICICIS)
Series Number 11
Series ISSN 2831-5952
ISBN 9798350322088
DOI https://doi.org/10.1109/ICICIS58388.2023.10391172
Public URL https://hull-repository.worktribe.com/output/4558612

Files

Accepted manuscript (1.4 Mb)
PDF

Copyright Statement
© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.





You might also like



Downloadable Citations