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Research on motion control of spherical robot in slope environment

Published online by Cambridge University Press:  16 May 2025

Rui Lin Open the ORCID record for Rui Lin [Opens in a new window] ,
Tujiu Li ,
Jianwen Huo Open the ORCID record for Jianwen Huo [Opens in a new window]  and
Qiguan Wang
Rui Lin
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang, China
Tujiu Li
Affiliation:
Sichuan Yaolei Science and Technology Co., Ltd., Mianyang, China
Jianwen Huo*
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang, China
Qiguan Wang
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang, China
*
Corresponding author: Jianwen Huo; Email: huojianwen2008@hotmail.com
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Abstract

Spherical robots face significant challenges in motion control on non-horizontal terrains, such as slopes, due to their unique spherical structure. This paper systematically investigates the motion stability of spherical robots on inclined surfaces through modeling, control algorithm design, and experimental validation. Precise Equilibrium Modeling: Using the virtual displacement method, the precise equilibrium equation for spherical robots on slopes is derived, addressing the issue of insufficient accuracy in describing the actual center of gravity in existing studies. Control Algorithm Design: For known slope conditions, a Backstepping Control (BSC) algorithm is designed, demonstrating excellent tracking performance. For unknown slope conditions, an Adaptive Backstepping Control (ABSC) algorithm is proposed, which significantly reduces tracking errors and enhances system robustness through parameter adaptation. Simulation and Physical Validation: Simulations confirm the effectiveness of the algorithms: BSC achieves high-precision control under known slopes, while ABSC exhibits strong adaptability under unknown slopes. Physical experiments validate the stability of the algorithms in a $5^\circ$ slope environment, demonstrating reliable performance across different control angles.

Keywords

backstepping controlleradaptive methodspherical robotclimbing motion
Type
Research Article
Information
Robotica , First View , pp. 1 - 19
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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