Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot

This paper describes a prototype and analytical studies o spherical rolling robot, a new design of an omnidirectional rob system. The robot can arbitrarily begin to move in any direction the target, and autonomously roll and reach any desired posit Our design has considered a spherical robot with an intern mechanism for propulsion. The propulsion mechanism will d tribute weights radially along spokes fixed inside the sphere enables the robot to accelerate, decelerate, and move with stant velocity. A mathematical model of the robot’s dynamic a motion was instructed. An algorithmic motion planning is dev oped and, partly, pseudocode of that is presented. For a num of missions, it is shown experimentally that the model agrees with the results. @DOI: 10.1115/1.1789542 #

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