<title>Design considerations in the development of a spherical mobile robot</title>

Abstract

The design problems in the development of a spherical mobile robot are discussed in this paper. These problems include dynamics and design of the propulsion mechanism, motion planning and control problems, actuator selection and sensor placement, design and fabrication of the exo-skeleton, and other issues related to power management and computing. Each of the problems are discussed in brief and presented in relation to the spherical mobile robot currently under development at Michigan State University.