A two-actuator spherical robot driven by a pendulum and a sliding mass is modeled with Euler-Lagrange dynamics and shown in simulation to track smooth paths with a pure-pursuit plus PID controller.
Design and implementation of a ball-driven omnidirectional spherical robot,
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Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical Robot
A two-actuator spherical robot driven by a pendulum and a sliding mass is modeled with Euler-Lagrange dynamics and shown in simulation to track smooth paths with a pure-pursuit plus PID controller.