新型球形机器人实现10米/秒高速稳定运动，突破原有结构限制。
A High-Speed Capable Spherical Robot
- 通过双摆结构加动量轮设计，实现高速运动解耦控制。
- 实测最高速度达10米/秒，具备稳定高速运动能力。
- 适合需要高速避障与复杂地形适应的机器人应用。
本文设计了一种新型球形机器人结构，可支持最高达10 m/s的高速运动。基于单摆驱动的球形机器人，该设计引入一个轴向与次级摆臂对齐的动量轮，构建出全新结构。实际物理原型实验表明，该新型球形机器人可通过简单的解耦控制实现稳定的高速运动，这是原结构无法实现的。该高速球形机器人不仅提升了运动速度，还显著增强了越障性能和地形鲁棒性。
原文摘要 · Abstract (English)
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the secondary pendulum, creating a novel spherical robot structure. Practical experiments with the physical prototype have demonstrated that this new spherical robot can achieve stable high-speed motion through simple decoupled control, which was unattainable with the original structure. The spherical robot designed for high-speed motion not only increases speed but also significantly enhances obstacle-crossing performance and terrain robustness.
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