Rollbot is the first spherical robot to achieve controllable 2D planar motion with a single actuator by modulating circular rolling trajectory curvature via motor speed changes.
The Inverted Pendulum Benchmark in Nonlinear Control Theory: a Survey
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Rollbot: a Spherical Robot Driven by a Single Actuator
Rollbot is the first spherical robot to achieve controllable 2D planar motion with a single actuator by modulating circular rolling trajectory curvature via motor speed changes.