2025/11/03 by Bixuan Zhang, Zhang, Bixuan, Fengqi Zhang +11
Engineering · #Control and Dynamics of Mobile Robots #Piezoelectric Actuators and Control #Soft Robotics and Applications
paper · pdf · doi:10.48550/arxiv.2511.01288
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 incorporates a momentum wheel with an axis aligned with the secondary pendulum, creating a novel spherical robot structure. Practical experiments with the physical prototype have demonstrated that this new spherical robot can achieve stable high-speed motion through simple decoupled control, which was unattainable with the original structure. The spherical robot designed for high-speed motion not only increases speed but also significantly enhances obstacle-crossing performance and terrain robustness.