Research on the Influence of Radial Variation of Centroid on the Motion of Spherical Robot
Long Ma,
Minggang Li,
Rui Chang
et al.
Abstract:Through the pendulum mechanism inside the spherical shell, the centroid can be varied circumferentially, enabling the spherical robot to achieve omnidirectional flexible movement. Additionally, the radial variation ability of the centroid enables spherical robots to adopt two distinct driving modes: the traditional lower pendulum driving mode and the inverted pendulum driving mode. There are two manifestations of radial variation in the centroid: having different radial positions of the centroid and achieving … Show more
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