Dynamic modeling, energy analysis, and path planning of spherical robots on uneven terrains

Sahand Sabet, Mohammad Poursina, Parviz E. Nikravesh, Paul Reverdy, Ali Akbar Agha-Mohammadi

Research output: Contribution to journalArticlepeer-review

13 Scopus citations


Spherical robots are generally comprised of a spherical shell and an internal actuation unit. These robots have a variety of applications ranging from search and rescue to agriculture. Although one of the main advantages of spherical robots is their capability to operate on uneven surfaces, energy analysis and path planning of such systems have been studied only for flat terrains. This work introduces a novel approach to evaluate the dynamic equations, energy consumption, and separation analysis of these robots rolling on uneven terrains. The presented dynamics modeling, separation analysis, and energy analysis allow us to implement path planning algorithms to find an optimal path. One of the advantages of this work is that these algorithms can be used when either the analytical or the empirical information about the terrain is available.

Original languageEnglish (US)
Article number9144386
Pages (from-to)6049-6056
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
StatePublished - Oct 2020


  • Nonholonomic mechanisms and systems
  • dynamics
  • nonholonomic motion planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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