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The manuscript discusses still preliminary considerations with regard to thedynamics and kinematics of an egg shaped robot with an gyro driven inertiaactuator. The method of calculation follows the idea that we would like toexpress the entire dynamic equations in terms of moments instead of forces.Also we avoid to derive the equations from a Lagrange function withconstraints. The result of the calculations is meant to be applicable to tworobot prototypes that have been build at the AES\&R Laboratory at the NationalChung Cheng University in Taiwan.

Kinematics and dynamics of an egg-shaped robot with a gyro driven inertia actuator