Effects of the slope on the motion of spherical RollRoller robot

In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.

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