Development and Control of a Real Spherical Robot

Karla Schröder, Gonzalo Garcia, Roberto Chacón, Guelis Montenegro, Alberto Marroquín, Gonzalo Farias, Sebastián Dormido-Canto, Ernesto Fabregas

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.

Original languageEnglish
Article number3895
Issue number8
StatePublished - Apr 2023


  • electronic circuit
  • position control
  • spherical robot


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