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As regards omnidirectional driving, conventional one-and two-pendulum spherical robots have a limited capability due to a limited pendulum motion range. In particular, such robots cannot move from a stationary state in a parallel direction to the center horizontal axis to which the pendulums are attached. Thus, to overcome the limited driving capability of one-and two-pendulum driven spherical robots, a passive version of a spherical robot, called KisBot II, was developed with a curved two-pendulum driving mechanism operated by a joystick. However, this paper presents an active upgraded version of KisBot II that includes a DSP-based control system and Task-based software architecture for driving control and data communication, respectively. A dynamic model for two-pendulum driving is derived using the Lagrange equation method, and a feedback controller for linear driving using two pendulums is then constructed based on the dynamic model. Experiments with several motions verify the driving efficiency of the proposed novel spherical robot.

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot. . 두 번째는 1997년에 Bicchi 등이 개발하였으며, 구체 내부에 바퀴구 동형 로봇을 포함하는 구조이다 [3] . 세 번째는 Javadi에 의 해 개발된 구형로봇은 로봇의 내부에 고정된 내부 추진 . 다섯 번째는 로봇 내부의 수평축(horizontal axis) 중심에 위치한 하나의 펜들럼(one-pendulum)을 움 직여 로봇의 전체적인 무게중심에 변화를 주어 이때 발 생되는 추진력을 이용하여 움직이게 된다 [6] . 이 구동 메 커니즘은 여러 다른 구형로봇에도 적용된 바 있다 [7][8][9][10] .

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