{"ID":2846535,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.01288","arxiv_id":"2511.01288","title":"A High-Speed Capable Spherical Robot","abstract":"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.","short_abstract":"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...","url_abs":"https://arxiv.org/abs/2511.01288","url_pdf":"https://arxiv.org/pdf/2511.01288v1","authors":"[\"Bixuan Zhang\",\"Fengqi Zhang\",\"Haojie Chen\",\"You Wang\",\"Jie Hao\",\"Zhiyuan Luo\",\"Guang Li\"]","published":"2025-11-03T07:10:12Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}