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Since the past few decades, several designs and control methods have beendeveloped for the Spherical Robots (SRs) with thoroughly analyzed mechanics ongeneralized 3D terrains. But the vertical motion and the steep inclinationmaneuver has been an unsolved problem with the existing SR's drivingmechanisms. Also, the possibilities of wind-powered or air-propelled SRs havenot been fully explored. This paper introduces the new OmnidirectionalSpherical Robot mechanism named SPIROS: The Six Propeller and Intermeshed Rotorbased Omnidirectional Spherical Robot. The SPIROS is driven by a noveloctahedral arrangement of six intermeshed rotary air thrusters placed in theGoldberg Polyhedral shaped spherical gridshell. The advantage of the proposeddesign lies in its air-powered propulsion, which improves on the obstacleavoidance and the slope climbing abilities. The robot's dynamic models arederived using the existing kinematical models of the Continuous RollingSpherical Robots (CR-SR), with subcategories, triple axes rolling (3R-SR), dualaxes rolling (2R-SR) and rolling and turning (RT-SR) spherical robots. The pathtracking control scheme based on the pure pursuit algorithm is presented.Simulations are carried out in MATLAB and Simulink to validate the developedmodels and the effectiveness of the proposed control schemes.

Design, Modelling and Control of SPIROS: The Six Propellers and Intermeshing Rotors Based Omnidirectional Spherical Robot