SPHERICAL ROBOT HAVING A PAIR OF PENDULUMS CAPABLE OF EASILY AVOIDING OBSTACLES BY CHANGING DIRECTIONS IN PLACE

摘要

PURPOSE: A spherical robot having a pair of pendulums is provided to variably and precisely control various motions for avoiding obstacles with first and second pendulum units in a state where the spherical robot is driving or stopped.;CONSTITUTION: A spherical robot having a pair of pendulums comprises first and second ring frames(11,13), a forward and backward driving unit(30), first and second direction changing units(50,60), first and second pendulum units, multiple outer covers(15a-15h), and a control unit. The center axes of the first and second ring frames cross each other. The forward and backward driving unit is arranged in the center axis of the first ring frame and rotates the first ring frame. The first and second direction changing units are arranged in the forward and backward driving unit in an orthogonal direction. The first and second pendulum units are independently rotated by the first and second direction changing units. The outer covers cover the first and second ring frames. The control unit controls the forward and backward driving unit and the first and second direction changing units.;COPYRIGHT KIPO 2012