Spherical robots have garnered increasing interest for their applications in exploration,
tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including …

The reliability of robots' digital control systems, based on Von Neumann type computer
platform is investigated. An approach is proposed for assessing the reliability of a robot …

Optimal motion planning and control of a nonholonomic spherical mobile robot is studied.
Dynamic Programming (DP) as a direct and online approach is used to navigate the robot in …

Ball-shaped robots present a novel and widely studied approach for mobile robotics.
Despite the essential benefit of the ball-robot that it cannot flip over or fall down, the robot's …

Abstract A Reinforcement Learning (RL) algorithm based on eXtended Classifier System
(XCS) is used to navigate a spherical robot. Traditional motion planning strategies rely on …

A direct approach to path planning of a 2-DOFs (Degrees of Freedom) spherical robot based
on Bellman׳ s dynamic programming (DP) is introduced. The robot moves in an environment …

Due to their under-actuated system, spherical robots cannot be efficiently controlled by
conventional control techniques, such as PID controllers. The path tracking and the position …

This paper deals with adaptive estimation of the unknown parameters and states of a
pendulum-driven spherical robot (PDSR), which is a nonlinear in parameters (NLP) chaotic …

This paper aims at designing an oscillationless open-loop impedance controller for a well-
known low-cost haptic device, namely the Novint Falcon haptic device. In this regard, the …

Dynamic models describing the ball-robot motion form the basis for developments in ball-
robot mechanics and motion control systems. For this paper, we have conducted a literature …