Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping

Abstract

Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller. However, previously established sphere kinematics models do not consider slipping. This study proposes a mathematical model that allows for slipping and can be broadly applied to a variety of mobile robots in a range of situations.