Introducing HIT Spherical Robot: Dynamic Modeling and Analysis Based on Decoupled Subsystem

HIT spherical robot has been designed on the principle of carrying out the turning and driving motions independently in order to reduce dynamic complexity and realize real-time detection. After introducing the decoupling principle implemented in the working processing, we derive the dynamic equations about the two fundamental motions, i.e., rolling and turning. Hardware and software of the open-loop control system are introduced briefly and, in the following, experiments show that the robot can fulfill common exploration applying the proposed decoupling method.