Derivation of how internal masses drive spherical rolling.
Implementation details for stable circular motion and navigation. rollbot.zip
Quasi-static state evaluations for the robot's movement. Derivation of how internal masses drive spherical rolling
You can find the full paper on arXiv and the accompanying open-source implementation on GitHub . Other "Rollbot" Projects rollbot.zip
A 2019 project from Harvard/Caltech featuring a flat sheet that folds into a wheel when heated.