Abstract
In this paper, we propose a new design of a mobile spherical robot, which is composed of a sphere-shaped outer shell and a 2-d.o.f. eccentric rotors inside it. On the assumption that there exists rolling contact constraint between the spherical surface of the robot and the floor, we construct a dynamic model of the robot and search the dynamic equlibrium. We finally achieve locomotion control by utilizing the principle of holonomy with appropriately oscillated rotors.
