Mathematical Overview on Omnidirectional Spherical Wall Traversing Robot

Since the past few decades, many mechanisms are being developed for wall climbing robots. Robotic systems having omnidirectional surface traversing ability independent of its inclination require complex morphology transformation for a floor to wall transition as well as perfect adhesion on the vertical surface. This paper depicts the development of the mathematical model for omnidirectional maneuverability of the robot. The novel design of this robot is newly aimed, and its motion is mathematically modeled.