Spherical robots have garnered increasing interest for their applications in exploration,
tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including …

In this article, a dynamical model for controlling an omniwheel mobile robot is presented.
The proposed model is used to construct an algorithm for calculating control actions for …

The paper is concerned with the problem of stabilizing a spherical robot of combined type
during its motion. The focus is on the application of feedback for stabilization of the robot …

The presented paper is dedicated to kinematic analysis of open kinematic chains. The aim of
the kinematic analysis is to investigate the dependence of the coordinates of driven …

In this paper, we develop a model of a controlled spherical robot with an axisymmetric
pendulum-type actuator with a feedback system suppressing the pendulum's oscillations at …

The objective of this article is to propose a novel spherical robot with a built-in four-wheel
omnidirectional mobile platform. The employment of a four-wheel structure helps to improve …

This paper is concerned with the problem of optimal path planning for a mobile wheeled
robot. Euler elasticas, which ensure minimization of control actions, are considered as …

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 …

This paper deals with the dynamics and motion planning for a spherical rolling robot with a
pendulum actuated by two motors. First, kinematic and dynamic models for the rolling robot …

A spherical robot with a suspended pendulum is a typical nonlinear system. It is of great
significance to save movement energy consumption in improving the endurance when the …