Configuration and behavioral realization of the spherical robot equipped with the magnetically detachable, and wirelessly powered sensor arm.

Abstract

Spherical robots are attracting attention as highly mobile robots because they can roll in all directions and, in addition, can move from any posture. However, because all components are contained within a spherical capsule, some sensors that require direct contact with the external environment are difficult to install. In this study, we propose a method to mount sensors that have been difficult to install so far by attaching arms equipped with sensors to the left and right sides of the spherical robot. We also describe a method of supplying power to the arm using a wireless power supply with a coil, which is important for reducing the weight and size of the arm. Furthermore, as an example of how the arm can be used, we will demonstrate object avoidance behavior of a spherical robot using an arm equipped with a distance sensor.