Research on the Influence of Radial Variation of Centroid on the Motion of Spherical Robot

Through the pendulum mechanism inside the spherical shell, the centroid can be varied circumferentially, enabling the spherical robot to achieve omnidirectional flexible movement. Additionally, the radial variation ability of the centroid enables spherical robots to adopt two distinct driving modes: the traditional lower pendulum driving mode and the inverted pendulum driving mode. There are two manifestations of radial variation in the centroid: having different radial positions of the centroid and achieving radial movement of the centroid. Focusing on these two manifestations, experimental data are obtained through different motion velocities and different motion slopes to conduct research on the influence of radial variation in the centroid on the motion of spherical robots. Based on the experimental data, multiple indicators are analyzed, including response speed, convergence speed, stability, and overshoot, as well as steering ability, climbing ability, and output power. The impact of the radial variation ability of the centroid on the control performance, locomotion capability, and energy consumption of spherical robots is summarized, and the correlation model relating the motion requirements to the radial position of the centroid is established, providing a theoretical basis for the selection of driving modes and centroid positions for spherical robots facing complex task requirements.