A Review of Active Mechanical Driving Principles of Spherical Robots <s> Balancing <s> We are developing a novel concept for mobility, and studying fundamental research issues on dynamics and control of the mobile robot. The robot, called Gyrover, is a single-wheel vehicle with an internal gyroscope that provides mechanical stabilization and steering capability. This configuration conveys significant advantages over multi-wheel, statically stable vehicles, including good dynamic stability and insensitivity to attitude disturbances; high manoeuvrability; low rolling resistance; ability to recover from falls; and amphibious capability. In this paper we present the design, analysis and implementation of the robot, as well as the associated research issues and potential applications. <s> BIB001 </s> A Review of Active Mechanical Driving Principles of Spherical Robots <s> Balancing <s> Gyrover is a single wheel, gyroscopically stabilized robot. It is a single wheel connected to a spinning flywheel through a two-link manipulator at the wheel bearing. The nature of the system is nonholonomic, nonlinear and underactuated. In this paper, we first develop a dynamic model and decouple the model with respect to the control inputs. We then study the effect of the flywheel dynamics on stabilizing the single wheel robot via simulation and experiment study. Finally, we design a linear state feedback control law that stabilizes the single wheel robot toward/in different lean angles, so as to control the precession rate. Simulation and experiment study validated the proposed controller as well as the developed dynamic model. <s> BIB002
An early approach was Gyrover, a disc-like object that balanced on its edge BIB002 BIB001 . An internal gyroscope was used to balance the robot, and the effects from the precession torque were used to steer it. Although novel in its design, it may be impractical for commercial usage. The literature states that it can be used at high speeds and on rough terrain. It can also turn in place, which can provide some degrees of holonomy. On the other hand, the robot may have difficulty correcting its orientation if it were to fall on its side. Furthermore, it may be difficult to make precision movements of the robot unless the embedded electronics and mechanics are extremely well designed. 