Alternative Way of Shifting Mass to Move a Spherical Robot

Abstract

The method proposed calls for suspending a payload by use of four or more cables that would be anchored to the inner surface of the sphere. In this method, the anchor points would not be diametrically opposite points defining Cartesian axes. The payload, which includes the functional analog of the aforementioned control box, would contain winches that would shorten or lengthen the cables in a coordinated manner to shift the position of the payload within the shell.