This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the secondary pendulum, creating a novel spherical robot structure. Practical experiments with the physical prototype have demonstrated that this new spherical robot can achieve stable high-speed motion through simple decoupled control, which was unattainable with the original structure. The spherical robot designed for high-speed motion not only increases speed but also significantly enhances obstacle-crossing performance and terrain robustness.
@article{arxiv.2511.01288,
title = {A High-Speed Capable Spherical Robot},
author = {Bixuan Zhang and Fengqi Zhang and Haojie Chen and You Wang and Jie Hao and Zhiyuan Luo and Guang Li},
journal= {arXiv preprint arXiv:2511.01288},
year = {2025}
}