Modeling and Simulation of a Novel Hydraulic Spherical Rolling Robot Using Bond graph Approach

This paper deals with modeling of a novel spherical robot using bond graph approach, in which a hydraulic driver mechanism is deployed. The proposed method is used to describe the dynamics of the system in various physical domains. The Newton-Euler formalism with body fixed coordinates is exploited in order to model the dynamics of the proposed spherical robot. Ground interaction as Coulomb friction is considered. Simulation results are obtained for equal inputs in open-loop physical model.