This article presents the development of a model of a spherical robot that rolls to move and
has a single point of support with the surface. The model was developed in the CoppeliaSim …

The use of spherical robots in outdoor operations has increased because they can move on
uneven/three-dimensional (3D) terrain. Since the non-holonomic constraints and the rolling …

The development of the spherical robot to meet the requirements of high-speed and high-
precision tasks is of great importance. In this study, a fractional-order adaptive integral …

This paper investigates the controlled motion of a spherical robot on a plane performing
horizontal periodic oscillations. The spherical robot is modeled by a balanced dynamically …

Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and
inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D …

In this paper, we present the design of a spherical robot with a high spherical shell to drive-
unit mass ratio. A drive unit and a novel shell structure design for the spherical robot are …

Purpose The characteristics of spherical robots, such as under-drive, non-holonomic
constraints and strong coupling, make it difficult to establish its motion control model …

This paper describes the existing designs of spherical robots and reviews studies devoted to
investigating their dynamics and to developing algorithms for controlling them. An analysis is …

The unmodeled parameters, uncertainties, chattering, and disturbances can be serious
problems for a controller. These issues decrease the performance of the controller and make …

This study considers the control of spherical robot linear motion under input saturation. A
fractional sliding mode controller that combines fractional order calculus and the hierarchical …