3 papers
cs.RO2025
A High-Speed Capable Spherical Robot
Bixuan Zhang, Fengqi Zhang, Haojie Chen +4
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incor…
cs.RO2023
Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots
Yifan Liu, Tao Hu, Xiaoqing Guan +4
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple te…
cs.RO2023
An MPC-based Optimal Motion Control Framework for Pendulum-driven Spherical Robots
Tao Hu, Xiaoqing Guan, Yixu Wang +5
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only…