Abstract
Spherical rolling is an interesting methodology for locomotion from both nonlinear control and robotics points of view. In this paper, we propose a model of a spherical rolling robot with the focus on dynamics and eccentricity of its center of gravity. Thanks to consideration of the previous study results concerned with spherical rolling robots, some experiments, robot creation, and dynamical spherical rolling robot simulation, one obtains some ideas, which may be valid for solving the problems related to design and control of the robot. Then they uncover some demands, which are necessary for the development of the robot in the future work.
