球形機器人

球形機器人（Spherical Robot、spherical mobile robot或ball-shaped robot）是外型為球型的行動機器人（英语：mobile robot）^[1]。一般是用球形的殼作為機器人的身體，透過內部驅動單元（IDU）讓機器人移動^[2]。球形機器人一般是用在平面上滾動的方式行動，滾動一般是透過調整機器人的重心（透過單擺驅動系統進行），不過也存在其他的驅動方式^[3]^[4]。

球形機器人的外殼一般會是固體的透明材料，不過有些為了驅動需要，也會做成不透明的，或是用可撓材料來製作外殼^[5]。球形機器人的外殼是密封的，外界環境不會影響其內容，也有可重新配置（英语：Self-reconfiguring modular robot）的球形機器人，可以將球形外殼變成其他形狀，因此除了滾動外，也可以進行其他的任務^[6]。

球形機器人可以是自動的機器人，也可以是遙控的機器人^[7]。因為球形機器人的活動特性，以及其封閉的外殼，幾乎所有球形機器人的內部驅動單元和外部控制單元（資料採集或是導航）的通訊都是利用無線通訊。這類機器人的電源大部份會是機器人內部的電池，不過也有些機器人是用太阳能电池供電^[7]。球形機器人可以依其應用或是驅動機制來進行分類。

另外也有一種球形機器人的定義，機器人是靜止的，透過二個旋轉接點以及一個只能平移的稜柱接點，形成球座標系^[8]。

應用编辑

球形機器人的應用^[7]包括監視、環境監測、巡視、水下探索、行星探索、復康、兒童發展^[9]及娛樂。球形機器人也可以是可以在陸地上或是水中（或水底）行動的兩棲機器人^[6]^[10]。

行動方式编辑

最常見的球形機器人行動方式是透過調整機器人的重心位置來達到^[1]。其他的行動方式^[7]有利用飛輪的角動量守恆^[3]、利用環境中的風、利用外殼形變的方式移動、以及用陀螺儀效應。

商品化的球形機器人编辑

目前已有可販售的球形機器人，例如Sphero、BB-8、GroundBot、Roball及QueBall。其中BB-8是2015年電影《STAR WARS：原力覺醒》中的機器人角色。

參考資料编辑

^ ^1.0 ^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, 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.
^ ^3.0 ^3.1 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.
^ 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.
^ 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.
^ ^6.0 ^6.1 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.
^ ^7.0 ^7.1 ^7.2 ^7.3 Spherical Mobile Robots: Research, Design, Application.
^ The Stanford arm. [2018-03-18]. （原始内容存档于2020-08-12）.
^ 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.
^ 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.

外部連結编辑

Spherical Robots: Research, Design, Application

[Halme-1] 1.0 ^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] 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] 3.0 ^3.1 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] 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] 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] 6.0 ^6.1 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] 7.0 ^7.1 ^7.2 ^7.3 Spherical Mobile Robots: Research, Design, Application.

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

[Michaud-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] 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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