Spherical rolling robots: Different designs and control algorithms

This paper presents a review of papers devoted to the creation and investigation of spherical robots. Owing to their structural features, namely, geometric symmetry and resistance of actuating mechanisms and elements of the control system against aggressive environmental conditions, robotic systems of this type have a high potential of being used in problems of monitoring, reconnaissance, and transportation on Earth and other planets. A detailed description is given of the structures of prototypes of spherical robots which use different actuation principles: a spherical robot with an internal pendulum mechanism, a spherical robot with an internal omniwheel platform, a spherical robot with internal rotors, and a spherical robot of combined type. Experimental results are presented to give an estimate of the possibility and efficiency of controlled motion. The applied use of spherical robots depending on the type of the actuating mechanism is discussed.