Low-profile and high-load ball-balancing rolling system

A ball-balancing mobility assistance vehicle, comprising:

• a spherical ball;
• a plurality of omniwheels positioned in contact with an upper hemisphere of the spherical ball to drive the spherical ball;
• a plurality of motors coupled to the plurality of omniwheels and configured to drive the plurality of omniwheels;
• a vehicle body comprising a support surface above the spherical ball and a motor frame to support the plurality of motors;
• a load platform detachably coupled with the support surface of the vehicle body;
• a plurality of sensors disposed on the load platform and configured to detect a real-time load distribution information on the load platform and;
• a controller configured to receive the real-time load distribution information and control the plurality of motors based on the real-time load distribution information, and further configured to extract balancing information from the real-time load distribution information to control the plurality of motors to stabilize a vertical orientation of the vehicle.