A High-Speed Capable Spherical Robot
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | |
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| _version_ | 1866915592521383936 |
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| author | Zhang, Bixuan Zhang, Fengqi Chen, Haojie Wang, You Hao, Jie Luo, Zhiyuan Li, Guang |
| author_facet | Zhang, Bixuan Zhang, Fengqi Chen, Haojie Wang, You Hao, Jie Luo, Zhiyuan Li, Guang |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_01288 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A High-Speed Capable Spherical Robot Zhang, Bixuan Zhang, Fengqi Chen, Haojie Wang, You Hao, Jie Luo, Zhiyuan Li, Guang Robotics Systems and Control I.2.9 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. |
| title | A High-Speed Capable Spherical Robot |
| topic | Robotics Systems and Control I.2.9 |
| url | https://arxiv.org/abs/2511.01288 |