This paper introduces an advanced predictive control algorithm tailored for spherical robots operating within obstacle-dense environments. The proposed strategy employs a sophisticated system model to ...

Spherical actuators are electromechanical devices capable of delivering rotational motion across three degrees of freedom within a single, compact assembly. By integrating permanent magnets, ...

At its core, this system developed at Yamagata University in Japan uses a "simple" cross-spherical gear paired with a monopole gear to control pitch, roll, and yaw. Essentially, the same full range of ...