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Spherical Robots for Special Purposes: A Review on Current Possibilities.

Marek Bujňák¹, Rastislav Pirník¹, Karol Rástočný¹

¹Faculty of Electrical Engineering and Information Technology, University of Zilina, 010 26 Zilina, Slovakia.

Sensors (Basel, Switzerland)

|February 26, 2022

Summary

This review explores spherical robot driving mechanisms and sensors, proposing enhanced environmental sensing for underground exploration robots. These robots can improve safety in mines and tunnels.

Keywords:

LiDAR cameras gas sensors inertial sensors mobile robot special applications spherical robot temperature sensors tunnel applications

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Area of Science:

Robotics
Mechanical Engineering
Sensor Technology

Background:

Spherical robots offer unique mobility and internal protection via shells.
Current spherical robots often have limited sensing capabilities, primarily for internal functions.
Diverse driving mechanisms exist for spherical robots, each with distinct properties.

Purpose of the Study:

To review existing driving mechanisms and sensors for spherical robots.
To propose the integration of advanced environmental sensors for enhanced capabilities.
To conceptualize a specialized spherical robot for underground exploration.

Main Methods:

Literature review of spherical robot driving mechanisms.
Analysis of current sensor limitations in spherical robots.
Proposal for incorporating external sensors like cameras, LiDAR, thermocouples, and gas sensors.

Main Results:

A comprehensive overview of spherical robot locomotion systems.
Identification of opportunities to augment sensing with environmental data acquisition.
Conceptual design framework for an exploration-focused spherical robot.

Conclusions:

Integrating advanced sensors significantly expands the utility of spherical robots.
Specialized spherical robots can be designed for critical underground exploration tasks.
This technology can enhance safety and efficiency in hazardous environments like mines and tunnels.