A pendulum-driven spherical mobile robot. (The white arrow is used to determine the position and orientation of the robot via a vision-based algorithm.)
A spherical robot, also known as spherical mobile robot, or ball-shaped robot is a mobile robot with spherical external shape.[1]
A spherical robot is typically made of a spherical shell serving as the body of the robot and an internal driving unit (IDU) that enables the robot to move.[2]
Spherical mobile robots typically move by rolling over surfaces. The rolling motion is commonly performed by changing the robot's center of mass (i.e., pendulum-driven system), but there exist some other driving mechanisms.[3][4]
In a wider sense, however, the term "spherical robot" may also be referred to a stationary robot with two rotary joints and one prismatic joint which forms a spherical coordinate system (e.g., Stanford arm[5]).
The spherical shell is usually made of solid transparent material but it can also be made of opaque or flexible material for special applications or because of special drive mechanisms.[6]
The spherical shell can fully seal the robot from the outside environment. There exist reconfigurable spherical robots that can transform the spherical shell into other structures and perform other tasks aside from rolling.[7]
Spherical robots can operate as autonomous robots, or as remotely controlled (teleoperated) robots.[8] In almost all the spherical robots, communication between the internal driving unit and the external control unit (data logging or navigation system) is wireless because of the mobility and closed nature of the spherical shell. The power source of these robots is mostly a battery located inside the robot but there exist some spherical robots that utilize solar cells.[8] Spherical mobile robots can be categorized either by their application or by their drive mechanism.
^Halme, A.; Schonberg, T.; Yan Wang (1996). "Motion control of a spherical mobile robot". Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE. Vol. 1. pp. 259–264. doi:10.1109/AMC.1996.509415. ISBN 0-7803-3219-9. S2CID 14135004.
^Mukherjee, Ranjan; Minor, Mark A.; Pukrushpan, Jay T. (2002). "Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem". Journal of Dynamic Systems, Measurement, and Control. 124 (4): 502–511. doi:10.1115/1.1513177.
^Joshi, Vrunda A.; Banavar, Ravi N.; Hippalgaonkar, Rohit (2010). "Design and analysis of a spherical mobile robot". Mechanism and Machine Theory. 45 (2): 130–136. doi:10.1016/j.mechmachtheory.2009.04.003.
^Alizadeh, Hossein Vahid; Mahjoob, Mohammad J. (2009). "Effect of Incremental Driving Motion on a Vision-Based Path Planning of a Spherical Robot". 2009 Second International Conference on Computer and Electrical Engineering. pp. 299–303. doi:10.1109/ICCEE.2009.133. ISBN 978-1-4244-5365-8. S2CID 18734506.
^"Spherical robots – All On Robots".
^Ylikorpi, Tomi J; Halme, Aarne J; Forsman, Pekka J (2017). "Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots". Robotics and Autonomous Systems. 87. Elsevier: 269–280. doi:10.1016/j.robot.2016.10.019.
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