Geodesic
Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 1, pp. 113-126

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In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.
Keywords: spherorobot, kinematic model, non-holonomic constraint, omni-wheel. 
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     title = {Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform},
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Alexander A. Kilin; Yury L. Karavaev; Anton V. Klekovkin. Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 1, pp. 113-126. http://geodesic.mathdoc.fr/item/ND_2014_10_1_a7/