Kinematic Model and Trajectory Tracking Algorithm for High-Speed Spherical Robots
Bixuan Zhang, Tao Hu, Xiaoqing Guan, Haojie Chen, You Wang, Jie Hao, Guang Li
Abstract
This paper proposes a new turning theory for spherical robots, which better describes the turning mechanism of spherical robots under turning constraints, using a pendulum-driven spherical robot as an example. Compared to the previous turning theory, the new theory shows greater alignment with real-world data, especially at high speeds. Based on this new turning theory, we have constructed and optimized a new kinematic model and used this model to design a trajectory tracking algorithm that remains reliable even at high speeds. Physical experiments demonstrate that the new algorithm significantly improves trajectory tracking accuracy at high speeds. Through enhancements to the trajectory tracking algorithm, this study improves the autonomous cruising speed of spherical robots.
BibTeX
@inproceedings{iros2025_kinematicmodelan,
title = {Kinematic Model and Trajectory Tracking Algorithm for High-Speed Spherical Robots},
author = {Bixuan Zhang and Tao Hu and Xiaoqing Guan and Haojie Chen and You Wang and Jie Hao and Guang Li},
booktitle = {IROS 2025},
year = {2025}
}