ABSTRACT
Spherical robot as a new type of mobile robots has made its debut in recent years. It has a ball-shaped outer shell to accommodate all its mechanism, control devices and energy sources. it is characterized as simple, compact, locomotion with minimal friction, walking mainly in a rolling way, constrained spaces, omnidirectional movement without ever overturning and so on[1]. These advantages provide the spherical robots with stronger viability than the traditional mobile robots in many fields, such as military, transportation, surveillance, search and rescue, toys, entertainment etc.
