摘要：A simplified kinetic model called Spring Pendulum is developed for a spherical rolling robot with soft shell in order to meet the needs of attitude stabilization and controlling for the robot. The elasticity and plasticity of soft shell is represented by some uniform springs connected to the bracket in this model. The expression of the kinetic model is deduced from Newtonian mechanics principles. Testing data of the driving angle acquired from a prototype built by authors indicate that testing data curve accords to the theoretic kinetic characteristic curve, so the kinetic model is validated
关键词：Soft Shell;Spherical Rolling Robot;Kinetic Model
