Table 2.
Comparison of functional features of SRs driving mechanism.
| Mechanism | CDoF | Mobility | Maneuve- Rability | Stability | Dead Reckoning | Design |
|---|---|---|---|---|---|---|
| Single wheel | 2 | Good | Weak | Weak | Weak | Simple |
| Hamster ball | 2 | Good | Weak | Great | Weak | Simple |
| Mass movement | 3 | Great | Good | Great | Good | Difficult |
| Pendulum | 2* | Good | Great | Great | Great | Average |
| Gimbal mechanism | 2* | Good | Good | Good | Good | Difficult |
| Orthogonal flywheels | 2 | Great | Good | Good | Good | Difficult |
| Flywheel on pendulum | 3 | Great | Great | Good | Good | Average |
| Deformation | 3 | Good | Good | Great | Weak | Difficult |
| Hybrid | 2* | Good | Good | Great | Good | Average |