Spherical robots have garnered increasing interest for their applications in exploration,
tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including …

The review discusses the possibilities of different driving mechanisms and sensors of
spherical robots, and a special kind of mobile robots is introduced and discussed. The …

A properly designed product-system platform seeks to reduce the cost and lead time for
design and development of the product-system family. A key goal is to achieve a tradeoff …

Locomotion through rolling is attractive compared to other forms of locomotion thanks to
uniform designs, high degree of mobility, dynamic stability, and self-recovery from collision …

This paper presents a spherical mobile robot which is capable of executing rolling and
walking motions. The proposed robot can also transform into a quadruped based on the …

The article presents a nonlinear H-infinity (optimal) control approach for the problem of the
control of the spherical rolling robot. The solution of such a control problem is a nontrivial …

The spherical rolling robot (SRR) is an underactuated system with nonholonomic
constraints. The proposed drive mechanism for the mobile robot is comprised of three …

In this paper, the decoupled control of a non-holonomic spherical rolling robot capable of
waypoint navigation over planar surfaces is investigated. The robot consists of an external …

Spherical robots have recently attracted significant interest due to their ability to offer high
speed motion with excellent locomotion efficiency. As a result of the presence of a sealed …

Pose estimation and trajectory tracking of a spherical rolling robot is a complex problem
owing to kinematics and dynamics of the system and the constraint of not being able to add …