{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/45296"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/45296","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Design of a spherical vehicle with flywheel momentum storage for high torque capabilities","abstract":"A novel method for supplementing the propulsion of a spherical ground vehicle was conceived and developed. The addition of angular momentum storage via counter-rotating control moment gyroscopes is proposed in order to overcome significant limitations in the performance of earlier designs of spherical vehicles. Analysis and design of a fully functioning spherical vehicle incorporating such a mechanism is completed and indicates significantly increased torque capabilities for ascending steep inclines and stairs. 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