Onedimensional attitude control for BIT flying Robot A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, onedimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.

Design and Analysis of a Flyingcrawling Spherical Robot for Multimode Movement A novel spherical robot named flyingcrawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods.