This article presents the development of a model of a spherical robot that rolls to move and has a single point of support with the surface. The model was developed in the CoppeliaSim simulator, which is a versatile tool for implementing this kind of experience. The model was tested under several scenarios and control goals (i.e., position control, path-following and formation control) with control strategies such as reinforcement learning, and Villela and IPC algorithms. The results of these approaches were compared using performance indexes to analyze the performance of the model under different scenarios. The model and examples with different control scenarios are available online.

This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.