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Date of Publication:2024-01-01

Journal:Robot

Volume:46

Issue:5

Page Number:591-599

ISSN No.:1002-0446

Key Words:Angular velocity; Centering mechanism; Closed-loop control; Closed loop control systems; Control modes; Hexagonal cells; Invariance; Lagrange multipliers; Robots; Shells (structures); Spherical robots; Spherical shell; Steering motion; Structure design and control; Variable diameter; Variable-diameter spherical shell