球体ローリングロボットの設計・モデリング・制御：系統的文献レビュー
Spherical Rolling Robots Design, Modeling, and Control: A Systematic Literature Review
1996年から2023年までの球体ロボットの移動機構と制御手法を系統的にレビューし、設計・制御の最適化に向けた知見と今後の研究方向を提示した。
著者: Aminata Diouf, Bruno Belzile, Maarouf Saad, David St-Onge
分類: cs.RO
原文アブストラクト
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc. In addition, a wide spectrum of control strategies has been proposed, ranging from traditional PID approaches to cutting-edge neural networks. Our systematic review aims to comprehensively identify and categorize locomotion systems and control schemes employed by spherical robots, spanning the years 1996 to 2023. A meticulous search across five databases yielded a dataset of 3189 records. As a result of our exhaustive analysis, we identified a collection of novel designs and control strategies. Leveraging the insights garnered, we provide valuable recommendations for optimizing the design and control aspects of spherical robots, supporting both novel design endeavors and the advancement of field deployments. Furthermore, we illuminate key research directions that hold the potential to unlock the full capabilities of spherical robots
