Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Design, Modelling and Control of SPIROS: The Six Propellers and
  Intermeshing Rotors Based Omnidirectional Spherical Robot   Since the past few decades, several designs and control methods have been
developed for the Spherical Robots (SRs) with thoroughly analyzed mechanics on
generalized 3D terrains. But the vertical motion and the steep inclination
maneuver has been an unsolved problem with the existing SR's driving
mechanisms. Also, the possibilities of wind-powered or air-propelled SRs have
not been fully explored. This paper introduces the new Omnidirectional
Spherical Robot mechanism named SPIROS: The Six Propeller and Intermeshed Rotor
based Omnidirectional Spherical Robot. The SPIROS is driven by a novel
octahedral arrangement of six intermeshed rotary air thrusters placed in the
Goldberg Polyhedral shaped spherical gridshell. The advantage of the proposed
design lies in its air-powered propulsion, which improves on the obstacle
avoidance and the slope climbing abilities. The robot's dynamic models are
derived using the existing kinematical models of the Continuous Rolling
Spherical Robots (CR-SR), with subcategories, triple axes rolling (3R-SR), dual
axes rolling (2R-SR) and rolling and turning (RT-SR) spherical robots. The path
tracking control scheme based on the pure pursuit algorithm is presented.
Simulations are carried out in MATLAB and Simulink to validate the developed
models and the effectiveness of the proposed control schemes.

35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
21
The categories of this paper are: adap-org
37
The categories of this paper are: supr-con
32
The categories of this paper are: atom-ph
0
The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
12
The categories of this paper are: nucl-th
24
The categories of this paper are: dg-ga
25
The categories of this paper are: patt-sol
34
The categories of this paper are: chem-ph
6
The categories of this paper are: astro-ph
22
The categories of this paper are: chao-dyn
3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys