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A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors

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Fig. 1.Rolling system with orthogonal placement of rotors.
Fig. 1). However, the distribution formed by h1, h2, h3, h4, h6, where
Fig. 3.Motion planning strategy.
Fig. 4.Time histories of x (red line), y (blue line) (top), ψ (blue line), ϑ (redline), and ϕ (green line) (bottom) during the first part of the maneuver.
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A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors

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