Stability analysis of steady motions of a spherical robot of combined type

The dynamics of a spherical robot of combined type consisting of a spherical shell and a pendulum attached at the center of the shell is considered. At the end of the pendulum a rotor is installed. For this system we carry out a stability analysis for a partial solution which in absolute space corresponds to motion along a circle with constant velocity. Regions of stability of a partial solution are found depending on the orientation of the spherical robot during the motion, its velocity and the radius of the circle traced out by the point of contact.