Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 26).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. A fully functional prototype is built and testing is ongoing to verify its capabilities.by Gregory C. Schroll.S.B
