Modeling of an anti-interference spherical robot for polar region scientific research

In most research work, the steering process has been ignored when considering the ability to move quickly from point to point. Being under control when suffering from Coriolis force or external disturbance in various types of terrain is also essential for spherical robots in hazardous locations such as the Antarctic ice shelf. In this paper, we has a spherical robot with deformable structure, which has two steering engines to control the dip angle between the ground and mid body. The deformable parts on either side of the robot were designed not only to stabilize itself using the method of limiting the degree of freedom with the ground but also to increase the reaction torque from the ground in the steering process. An experiment was set to investigate the relationship between the curvature radius of steering motion and driving angular velocity of the shell. The designed robot was proved to be well under control in test cases with external disturbances like driven by wind power.