  This letter considers control of a radially symmetric tripedal
friction-driven robot. The robot features 3 servo motors mounted on a 3-D
printed chassis 7 cm from the center of mass and separated 120 degrees. These
motors drive limbs, which impart frictional reactive forces on the body.
Experimental observations performed on a uniform friction surface validated a
mathematical model for robot motion. This model was used to create a gait map,
which features instantaneous omni-directional control. We demonstrated line
following using live feedback from an overhead tracking camera.
Proportional-Integral error compensation performance was compared to a basic
position update procedure on a rectangular course. The controller reduced path
error by approximately $46\%$. The error compensator is also able to correct
for aerodynamic disturbances generated by a high-volume industrial fan with a
mean flow speed of $5.5ms^{-1}$, reducing path error by $65\%$ relative to the
basic position update procedure.
