Tri-Sphero Bot: A Modular Compliant Unit with Spherical Wheels

Modular robots offer promising applications in fields like swarm robotics and exploration, and have been extensively explored in the academic research. Specifically, some soft robots, even with the complex system dynamics, exhibit their usefulness in tasks involving navigation of unfamiliar environments. In this study, we present a compliant robot design and analyze two-dimensional motion with simulation using various reference trajectories. Subsequently, we validate the optimized simulation parameters on physical hardware, revealing promising potential for effective robot control.