MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design

TL;DR

MonoRollBot introduces a minimalist 3-DOF spherical robot driven by a single spring-motor system, demonstrating effective multi-directional locomotion with simplified actuation for applications like inspection and exploration.

Contribution

The paper presents a novel underactuated 3-DOF spherical robot design using only one motor and a passive spring, advancing minimalist actuation in spherical robotics.

Findings

Achieves 3-DOF motion with a single actuator

Demonstrates effective locomotion through spring-motor coupling

Shows potential for simplified spherical robot design

Abstract

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single spring-motor system. Unlike conventional spherical robots, MonoRollBot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also do studies on its locomotion behaviours based on changes in rotating mass and stiffness properties.