Stabilization of the motion of a spherical robot using feedbacks.

Highlights • Spherical robot moves by changing the position of its center of mass and by changing gyrostatic momentum. • Stabilization of the spherical robot using only two control actions. • Tuning of controllers for stabilization of spherical robot of combined type. Abstract The paper is concerned with the problem of stabilizing a spherical robot of combined type during its motion. The focus is on the application of feedback for stabilization of the robot which is an example of an underactuated system. The robot is set in motion by an internal wheeled platform with a rotor placed inside the sphere. The results of experimental investigations for a prototype of the spherical robot are presented. [ABSTRACT FROM AUTHOR]