2024/04/08 by Jingxian Wang, Wang, Jingxian, Michael Rubenstein +1
Computer Science · Engineering · #Advanced Manufacturing and Logistics Optimization #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2404.05120
openalex publication_date 2024/04/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this assumption. Rollbot rolls on the ground in a circular pattern and controls its motion by changing the trajectory's curvature by accelerating and decelerating its single motor and the attached mass according to our derived quasi-stable state dynamics and control laws. We present the theoretical analysis, design, and control of Rollbot, and demonstrate its ability to move in a controllable circular pattern and follow waypoints, validating the efficacy of the proposed theoretical framework.