Design and Control of a Sphere Robot Actuated by a Control Moment Gyroscope

Abstract

This paper presents the design and control of a sphere robot, of which heading angle is actuated by a control moment gyroscope (CMG). Not only the heading angle but also the position of the CNU-sphere robot is controlled. There are two actuators for driving control and a CMG actuator for heading control. The CMG has a scissored-pair configuration to maximize the induced torque by double. Experimental studies of position control of the CNU-sphere robot are conducted to demonstrate the functionality of the robot.