Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing


A mathematical model is developed for a rolling robot with a cylindrically-shaped, elliptical outer surface that has the ability to alter its shape as it rolls, resulting in a torque imbalance that accelerates or decelerates the robot. A control scheme is implemented, whereby angular position and angular velocity are used as feedback to trigger and define morphing actuation. The goal of the control is to direct the robot to follow a given angular velocity profile. Equations of motion for the rolling robot are formulated and solved numerically. Results show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to start from rest, achieve constant average velocity and slow itself in order to follow a desired velocity profile with significant accuracy.

Meeting Name

ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 (2015: Oct. 28-30, Columbus, OH)


Mechanical and Aerospace Engineering

Keywords and Phrases

Adaptive control systems; Aerospace applications; Angular velocity; Automobile engines; Battery management systems; Electric machine control; Electric power system control; Engines; Equations of motion; Hybrid vehicles; Intelligent robots; Intelligent systems; Internal combustion engines; Robots; Velocity; Wind power, Angular positions; Average velocity; Control schemes; Morphing; Outer surface; Rolling robots; Velocity profiles, Robotics

International Standard Book Number (ISBN)


Document Type

Article - Conference proceedings

Document Version


File Type





© 2015 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Oct 2015