磁耦合可重构球形机器人，实现无线稳定滚动与模块联动。
PenduMorph: Development and Motion Analysis of Pendulum-Actuated Rolling Reconfigurable Spherical Robot with Magnetic-Coupling
- 内置双自由度摆锤驱动，通过磁力实现模块间自动对接
- 实验验证单模和双模状态下的稳定滚动与协同运动能力
- 适合复杂环境中的模块化机器人研究与应用
本文提出一种名为PenduMorph的无线可重构滚动球形机器人，作为封闭环境下移动与模块交互的模块化平台。该设计将先前的摆锤驱动滚动盘概念扩展为全封闭球形结构，集成2-自由度内部摆锤、机载控制、电池供电及磁性对接功能，旨在兼顾独立滚动能力、硬件防护与可靠重构性。首先介绍机器人设计及磁耦合机制的理论分析，评估模块间的连接保持力与交互性能；随后在单模块与双模块层面开展实验，研究独立滚动、磁性耦合及协同运动等关键行为。结果表明，该平台可实现稳定的无线运行，并具备多种独特的可重构滚动模式，为未来在高接触密度与严苛环境中的模块化球形机器人提供有效基础。
原文摘要 · Abstract (English)
This paper presents "PenduMorph", a wireless reconfigurable rolling spherical robot designed as a modular platform for enclosed locomotion and inter-module interaction in challenging environments. The proposed robot extends our previous pendulum-actuated rolling disk concept to a fully enclosed spherical architecture integrating a 2-DoF internal pendulum, onboard control, battery-powered operation, and magnetic docking. The design aims to combine independent rolling mobility with protected hardware and reliable reconfigurability. We first present the robot design and an analytical study of the magnetic coupling mechanism to evaluate retention and interaction between coupled modules. We then experimentally investigate key motion behaviors at both the single-module and dual-module levels, including independent rolling, magnetic coupling, and coordinated coupled motion. The results show that the proposed platform enables stable wireless operation and a set of distinctive reconfigurable rolling behaviors, providing a useful foundation for future modular spherical robots operating in contact-rich and demanding environments.
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