… a spherical robot propelled by an internal omniwheel platform and rolling without slipping on
a plane. The problem of control of spherical robot … framework of the kinematic model we will …

… , due to the appropriate torque control of an unbalanced axisymmetric pendulum, … of
controlling the spherical robot by controlling the omniwheels of the inner rigid body when the robot …

… Abstract: The kinematic control model for a spherical robot with an internal omniwheel
platform is presented. We consider singularities of control of spherical robot with an unbalanced …

… body of spherical shape on a rough plane, controlled by the … Robot-ball is a spherical
body with internal moving masses … -mentioned control by shifting the center of gravity (unbalanced …

… in motion unless attracted by an unbalanced force. The accelerometer can be … spherical
ball and an upper body placed on top of it. The model used in this thesis is three omniwheeled …

… internal environment and protection from overturning. Many dedicated sensors can be safely
placed inside the sphere and the robot … Spherical robots based on unbalanced masses are …

… The kinematic control model for a spherical robot with an internal omniwheel platform is
presented… We consider singularities of control of spherical robot with an unbalanced internal …

… for the omniwheel vehicle on a sphere. The dynamics of an … using various mechanisms
installed inside (wheel carriages, … of attachment of omniwheels to the platform which are found …

… spherical robot was placed into a special platform which the … of a spherical robot with an
internal vehicle with omniwheels … , and the control is performed using the kinematic model. But …

… Various modifications of spherical robots are described and their … : a spherical robot with
internal rotors [4], a spherical robot with an internal omniwheel platform [5, 6], a spherical robot …