This paper deals with the problem of a spherical robot propelled by an internal omniwheel
platform and rolling without slipping on a plane. The problem of control of spherical robot …

In this paper, the motion of a spherical robot rolling on a generic surface is considered. The
motion equations are derived in matrix form using a Lagrangian approach, and quaternions …

THE evidence of water on Mars has increased interest in Martian exploration. Future
missions will involve the exploration of large areas of the Martian surface, and areas of …

In this paper, the rolling stability of a power-generating tumbleweed rover is investigated.
The nonlinear equations of motion of the rover capture the nonholonomic nature of rolling …

В статье рассматривается динамика сфероробота, проводящегося в движение
расположенной внутри платформой с омниколесами. Получены уравнения движения …

TO EXPLORE the surface of Mars in an accelerated manner, alternatives to wheeled rovers,
such as spherical rovers, have been considered [1–4]. Motivation to use spherical robots …

A TUMBLEWEED rover is a lightweight, spherical rover designed to explore locations of
scientific interest on Mars. The rover is an autonomous vehicle that relies on the Martian …

Современный интерес к теоретическим и экспериментальным исследованиям систем с
качением вызван активным развитием робототехники, прежде всего мобильных …

This paper explores a two state rover concept called the Transforming Roving-Rolling
Explorer (TRREx). The first state allows the rover to travel like a conventional 6-wheeled …

All planetary surface exploration missions thus far have employed traditional rovers with a
rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but …