||In this thesis, a wireless monitoring spherical robot, combined with an accelerometer, a gyroscope, a magnetometer and a wireless camera, is proposed to explore unknown environments. The control system of this robot is composed primarily of a Bluetooth remote control panel and a monitoring panel. On the App of the Bluetooth remote control panel, users can easily gather the sensor information on this robot and can also control the robot with directional commands. On the monitoring panel, users can get the current field of view in front of the robot. With these panels, users are able to remotely control the robot and monitor the surroundings at the same time. As for the inside structure, the spherical robot is mainly driven with a pendulum and a horizontal weight. Different from turning methods of previous pendulum driven spherical robots, this robot makes the turn by shifting horizontal weight. For rolling function, a pendulum driven by a DC motor with large torque is used to make the robot rolling forward or backward. Concerning the balance control of this robot, while going forward and backward, two fuzzy controllers are respectively employed to adjust the swing of the pendulum until the pendulum reaches to an equilibrium condition and the shift of the horizontal weight in order to balance the robot. As to turning corners, the horizontal weight will shift and tilt the robot horizontally. Meanwhile, the bob will drive the robot rolling in order to make the turn. In order to improve the performance of turning corners, the bob changes the driving direction to break the balancing of the robot. According to the result of experiments, these control processes work effectively on the robot, and all the functions mentioned above can be performed successfully.|
|| D. D. Raze, “Power and steering mechanism,” US 2171294 A, Aug. 1939.|
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 Rollo : Mobile ball-shaped robot,
 Ball-shaped “robot” based on a Lego Mindstorms NXT,
 T. Urakubo, M. Osawa, H. Tamaki, and Y. Tada, “Development of a spherical rolling robot equipped with a gyro,” in Proc. IEEE Int. Conf. Mech. Autom., Chengdu, China, Aug. 2012, p. 1602-1607.
 Motoduino Lab,
 Arduino - Software
 EDIMAX Technology,
 FULLYMAX Japan,
 MIT App Inventor 2,
 EDIMAX IC-3115W - Utility
 Moment of Inertia,