Motion Control of a Spherical Mobile Robot

  title={Motion Control of a Spherical Mobile Robot},
  author={Aarne Halme and Torsten Sch{\"o}nberg and Yan Wang},
The paper deals with dynamics and control of a special type of mobile robot designed to act as a small platform to carry sensing devices or actuators in an environment where stability of the platform is critical, like in surveying unstructured hostile industrial environment or exploring other planets, or simply being a part of a human place, like office or home, which has not been designed for mobile machines. The spherical construction offers extraordinary motion properties in cases where… CONTINUE READING
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Spherical Rolling Robot”, Automation Technology Laboratory, Helsinki University of Technology, report, Oct

  • Y. Wang
  • 1994
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