文章基本信息

标题：A Review of Active Mechanical Driving Principles of Spherical Robots
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作者：Richard Chase ; Abhilash Pandya
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2012
卷号：1
期号：1
页码：3-23
DOI：10.3390/robotics1010003
语种：English
出版社：MDPI Publishing
摘要：Spherical robotics is an emerging research field due to a ball’s characteristic to be holonomic, have a sealed internal environment, and rebound from collisions easily. As the research moves forward, individual groups have begun to develop unique methods of propulsion, each having distinctive engineering trade-offs: weight is sacrificed for power; speed is forfeited for control accuracy, etc. Early spherical robots operated similar to a hamster ball and had a limited torque and a high-energy loss due to internal friction. Researchers have begun to develop various novel concepts to maneuver and control this family of robot. This article is an overview of the current research directions that various groups have taken, the nomenclature used in this subdiscipline, and the various uses of the fundamental principles of physics for propelling a spherical robot.
关键词：spherical robots; holonomy; holonomic robots; control moment gyroscope