球形机器人

球形机器人（Spherical Robot、spherical mobile robot或ball-shaped robot）是外型为球型的行动机器人（英语：mobile robot）^[1]。一般是用球形的壳作为机器人的身体，透过内部驱动单元（IDU）让机器人移动^[2]。球形机器人一般是用在平面上滚动的方式行动，滚动一般是透过调整机器人的重心（透过单摆驱动系统进行），不过也存在其他的驱动方式^[3] ^[4]。

球形机器人的外壳一般会是固体的透明材料，不过有些为了驱动需要，也会做成不透明的，或是用可挠材料来制作外壳^[5]。球形机器人的外壳是密封的，外界环境不会影响其内容，也有可重新配置（英语：Self-reconfiguring modular robot）的球形机器人，可以将球形外壳变成其他形状，因此除了滚动外，也可以进行其他的任务^[6]。

球形机器人可以是自动的机器人，也可以是遥控的机器人 ^[7]。因为球形机器人的活动特性，以及其封闭的外壳，几乎所有球形机器人的内部驱动单元和外部控制单元（资料采集或是导航）的通讯都是利用无线通讯。这类机器人的电源大部分会是机器人内部的电池，不过也有些机器人是用太阳能电池供电^[7]。球形机器人可以依其应用或是驱动机制来进行分类。

另外也有一种球形机器人的定义，机器人是静止的，透过二个旋转接点以及一个只能平移的棱柱接点，形成球座标系^[8]。

球形机器人的应用^[7]包括监视、环境监测、巡视、水下探索、行星探索、复康、儿童发展^[9]及娱乐。球形机器人也可以是可以在陆地上或是水中（或水底）行动的两栖机器人^[6]^[10]。

最常见的球形机器人行动方式是透过调整机器人的重心位置来达到^[1]。其他的行动方式^[7]有利用飞轮的角动量守恒^[3]、利用环境中的风、利用外壳形变的方式移动、以及用陀螺仪效应。

目前已有可贩售的球形机器人，例如Sphero、BB-8、GroundBot、Roball及QueBall。其中BB-8是2015年电影《STAR WARS：原力觉醒》中的机器人角色。

行动机器人（英语：mobile robot）

[1]
Halme, Aarne; Schonberg, Torsten; Wang, Yan. Motion control of a spherical mobile robot. 4th IEEE International Workshop on Advanced Motion Control (AMC '96-MIE). 1996, 1: 259–264. doi:10.1109/AMC.1996.509415.
[2]
Mukherjee, Ranjan; Minor, Mark A.; Pukrushpan, Jay T. Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem. ASME journal of dynamic systems, measurement, and control. 2002, 124 (4): 502–511. doi:10.1115/1.1513177.
[3]
Joshi, Vrunda A.; Banavar, Ravi N.; Hippalgaonkar, Rohit. Design and analysis of a spherical mobile robot. Mechanism and Machine Theory. 2010, 45 (2): 130–136. doi:10.1016/j.mechmachtheory.2009.04.003.
[4]
Vahid Alizadeh, Hossein; Mahjoob, Mohammad J. Effect of incremental driving motion on a vision-based path planning of a spherical robot. Second International Conference on Computer and Electrical Engineering (IEEE). 2009, 1: 299–303. doi:10.1109/ICCEE.2009.133.
[5]
Ylikorpi, Tomi J; Halme, Aarne J; Forsman, Pekka J. Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots. Robotics and Autonomous Systems (Elsevier). 2017, 87: 269–280. doi:10.1016/j.robot.2016.10.019.
[6]
Shi, Liwei; Guo, Shuxiang; Mao, Shilian; Yue, Chunfeng; Li, Maoxun; Asaka, Kinji. Development of an amphibious turtle-inspired spherical mother robot. Journal of Bionic Engineering (Elsevier). 2013, 10 (4): 446–455. doi:10.1016/S1672-6529(13)60248-6.
[7]
Spherical Mobile Robots: Research, Design, Application.
[8]
The Stanford arm. [2018-03-18]. （原始内容存档于2020-08-12）.
[9]
Michaud, François; Laplante, J-F; Larouche, Hélène; Duquette, Audrey; Caron, Serge; Létourneau, Dominic; Masson, Patric. Autonomous spherical mobile robot for child-development studies. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans. 2005, 35 (4): 471–480. doi:10.1109/TSMCA.2005.850596.
[10]
Vahid Alizadeh, Hossein; Mahjoob, Mohammad J. Quadratic damping model for a spherical mobile robot moving on the free surface of the water. IEEE International Symposium on Robotic and Sensors Environments (ROSE). 2011: 125–130. doi:10.1109/ROSE.2011.6058541.

Spherical Robots: Research, Design, Application

[Halme-1] [1]
Halme, Aarne; Schonberg, Torsten; Wang, Yan. Motion control of a spherical mobile robot. 4th IEEE International Workshop on Advanced Motion Control (AMC '96-MIE). 1996, 1: 259–264. doi:10.1109/AMC.1996.509415.

[Mukherjee-2] [2]
Mukherjee, Ranjan; Minor, Mark A.; Pukrushpan, Jay T. Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem. ASME journal of dynamic systems, measurement, and control. 2002, 124 (4): 502–511. doi:10.1115/1.1513177.

[Joshi-3] [3]
Joshi, Vrunda A.; Banavar, Ravi N.; Hippalgaonkar, Rohit. Design and analysis of a spherical mobile robot. Mechanism and Machine Theory. 2010, 45 (2): 130–136. doi:10.1016/j.mechmachtheory.2009.04.003.

[Alizadeh2-4] [4]
Vahid Alizadeh, Hossein; Mahjoob, Mohammad J. Effect of incremental driving motion on a vision-based path planning of a spherical robot. Second International Conference on Computer and Electrical Engineering (IEEE). 2009, 1: 299–303. doi:10.1109/ICCEE.2009.133.

[Halme1-5] [5]
Ylikorpi, Tomi J; Halme, Aarne J; Forsman, Pekka J. Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots. Robotics and Autonomous Systems (Elsevier). 2017, 87: 269–280. doi:10.1016/j.robot.2016.10.019.

[Guo-6] [6]
Shi, Liwei; Guo, Shuxiang; Mao, Shilian; Yue, Chunfeng; Li, Maoxun; Asaka, Kinji. Development of an amphibious turtle-inspired spherical mother robot. Journal of Bionic Engineering (Elsevier). 2013, 10 (4): 446–455. doi:10.1016/S1672-6529(13)60248-6.

[SphericalWeb-7] [7]
Spherical Mobile Robots: Research, Design, Application.

[8] [8]
The Stanford arm. [2018-03-18]. （原始内容存档于2020-08-12）.

[Michaud-9] [9]
Michaud, François; Laplante, J-F; Larouche, Hélène; Duquette, Audrey; Caron, Serge; Létourneau, Dominic; Masson, Patric. Autonomous spherical mobile robot for child-development studies. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans. 2005, 35 (4): 471–480. doi:10.1109/TSMCA.2005.850596.

[Alizadeh1-10] [10]
Vahid Alizadeh, Hossein; Mahjoob, Mohammad J. Quadratic damping model for a spherical mobile robot moving on the free surface of the water. IEEE International Symposium on Robotic and Sensors Environments (ROSE). 2011: 125–130. doi:10.1109/ROSE.2011.6058541.

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球形机器人

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