Spherical Robot

Spherical robots, characterized by their omnidirectional mobility and protective shell, are a focus of robotics research driven by applications in diverse fields like minimally invasive surgery and planetary exploration. Current research emphasizes developing robust control algorithms, including model predictive control (MPC) and sliding mode control (SMC), to address challenges such as wobble minimization, accurate trajectory tracking across varied terrains, and effective human-robot interaction, often employing admittance control schemes for intuitive hands-free operation. These advancements are improving the precision, safety, and usability of spherical robots, expanding their potential for both scientific investigation and practical deployment in challenging environments.