Design and Analysis of a New Type of Spherical Robot

Abstract

A new type of spherical robot based on the concept of changing the barycenter of the system is presented. The robot is consist of a shell and inner driving unit inside. The driving motor can provide the torque to move forward and backward, and the other motor can control the movement of a slider which is used to change the barycenter when turning the direction. The whole system is easy to design and the plate inside can be installed with certain sensor for special tasks. The dynamic model of the robot is introduced. The simulation results which shows the accordance with the experiment is presented.