103 results about "Spherical robot" patented technology

The utility model provides a deformable robot, and relates to the technical field of probe vehicles, a plurality of telescopic devices are inserted on a spherical mechanical shell to form a sea urchin-shaped robot, a driving device is arranged on the mechanical shell, and the driving device drives the telescopic devices to move so as to drive the telescopic devices to telescopically move relative to the mechanical shell. The effect that the outer contour changes into the given track body contour is achieved, that is, the effect of rolling along the given track is achieved through deformation of the outer contour, and the technical problems that in the prior art, an existing spherical robot cannot move along the given track, and the control difficulty is large are solved.

A robot may have a sphere-like outer shell defining an inner cavity. An axle unit includes an axle connected at its opposed ends to the outer shell, in the inner cavity, and a transmission to transmit a torque to the axle. A pendulum drive unit is operatively connected to the axle unit and supported in the outer shell by the axle, the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit. The axle unit and the pendulum drive unit concurrently define a cylindrical joint by which the pendulum drive unit is movable in rotation and translation relative to the axle to tilt and drive the sphere-like outer shell via the actuators.

The invention relates to the technical field of robots, in particular to a spherical robot which comprises a spherical shell. A mounting cavity is formed in the spherical shell, and a first mounting opening and a second mounting opening which are communicated with the mounting cavity are formed in the outer wall of the spherical shell; a connecting rod is arranged in the mounting cavity, and a first connecting plate and a second connecting plate are correspondingly mounted at the two ends of the connecting rod respectively; the first connecting plate and the second connecting plate are correspondingly arranged in the first mounting opening and the second mounting opening respectively; a first motor is installed on the outer wall of the connecting rod, and the output end of the first motor faces upwards and is fixedly provided with a rotating disc. A bearing rod is fixed to the outer wall of the connecting rod, and a gravity block is fixed to the bottom of the bearing rod. And a first driving assembly and a second driving assembly are arranged on the outer wall of the connecting rod correspondingly. The device can be suitable for different terrains and is high in maneuverability, small in overall size and high in concealment.

The invention relates to the technical field of mobile robots, in particular to a bimodal spherical mobile robot based on a connecting rod folding and unfolding mechanism, which comprises a first spherical shell module, a second spherical shell module and a driving module, the first spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a circular shell; the second spherical shell module comprises a first connecting shell, a second connecting shell, a third connecting shell, a fourth connecting shell, a fifth connecting shell, a sixth connecting shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a circular shell; the control module comprises a first gear motor, a second gear motor, an electric push rod, a double-shaft steering engine, a first sleeve, a second sleeve, a first bearing connecting piece, a second bearing connecting piece, a first bearing, a second bearing, a steering engine connecting piece and a weight. By changing the spherical and folding structures of the mechanism structure, optimization and improvement of the moving stability, the narrow terrain passing efficiency and the environment adaptability of the robot are synchronously achieved.

The present invention relates to a robot comprising a single spherical movement wheel (2), the robot (1) being configured to be movable on the ground (7). The robot comprises an anti-topple device (10; 10') having a deployment system (11; 11'); an actuating means (12) for actuating the deployment system (11; 11'), and a support means (13) connected to the deployment system (11; 11') and configured to be supported on the ground (7), the anti-topple device (10; 10') being movable between a folded and deployed position in which the actuating means (12) activates the deployment system (11; 11') such that the deployment system (11; 11') deploys by moving the support means (13) away from the spherical wheel (2), the robot (1) being configured, in the deployed position, to be supported by the support means (13).

The invention discloses an automatic obstacle crossing driving system and a spherical robot. The automatic obstacle crossing driving system comprises a middle ring module, a driving module and an execution module. The driving module is connected with the middle ring module; the execution module comprises a rotating assembly, an obstacle crossing assembly, an elastic assembly and a wheel ring, the rotating assembly is connected with the output end of the driving module, the obstacle crossing assembly is connected with the rotating assembly, the wheel ring is rotationally connected with the driving module, the elastic assembly is connected with the wheel ring, and the free end of the elastic assembly abuts against the obstacle crossing assembly; in the obstacle crossing mode, the wheel ring is clamped, the rotating assembly rotates to drive the obstacle crossing assembly to extrude the elastic assembly, and the elastic assembly drives the obstacle crossing assembly to stretch out of the wheel ring. According to the mechanical linkage obstacle crossing structure, real-time intervention of a processor is not needed, response delay caused by calculation and communication in a traditional system is eliminated, it is ensured that obstacle crossing operation can be completed in the first time when an obstacle is encountered, and the working efficiency and reliability of the system are improved.

The utility model discloses an obstacle-crossing spherical robot. The obstacle-crossing spherical robot comprises a spherical shell, a driving core frame, a swinging guide framework and a supporting obstacle-crossing mechanism, the spherical shell is composed of an upper hemispherical shell and a lower hemispherical shell which are connected through flange plates on the left side and the right side to form the complete spherical shell. The driving core frame is arranged in the center of the interior of the spherical shell, the driving steering engine and the conductive slip ring are installed on the left side and the right side of the driving core frame respectively, the driving core frame moves, the driving steering engine is connected to the first flange plate through the first coupler, and the conductive slip ring is connected with the second flange plate so as to be fixed in the sphere; the swing guide framework comprises a swing arm, a balancing weight and a tripod, and is connected with the swing steering engine to control the motion direction of the spherical robot; the supporting obstacle crossing mechanism comprises supporting legs, a digital steering engine and a second coupler and controls the spherical robot to cross obstacles. The external structure and the internal structure of the spherical robot are simplified, and the spherical robot has the advantages of being flexible in movement, good in stability and high in controllability.

The invention provides a dynamic modeling method for any three-dimensional curved surface motion of a spherical robot, which comprises the following steps of: describing a motion model of the spherical robot driven by a trolley on any three-dimensional curved surface, defining physical parameters of a system, a reference system and a model assumption condition, and describing the ground and a motion state. Performing parameterization representation on the quaternion describing the attitude; the motion constraint of the trolley-driven spherical robot under generalized coordinates when the trolley-driven spherical robot moves on the three-dimensional curved surface is described and expressed in the form of quasi angular velocity, then unknown constraint force in a Lagrange equation is eliminated through the motion constraint, and a kinetic equation of the trolley-driven spherical robot is obtained. The motion principle of the trolley-driven spherical robot on any three-dimensional curved surface is disclosed, and a theoretical basis is provided for further achieving stable motion of the trolley-driven spherical robot in a complex task scene.

The present invention discloses an active deployment spherical robot based on ratchets and pawls, belonging to the field of spherical robots; it includes a frame, two hemispherical ball wheel mechanisms, and a deployment drive mechanism; the deployment drive mechanism includes a main shaft, a lateral deployment drive mechanism, and a rotation drive mechanism; each ball wheel mechanism includes an inner end ball wheel assembly, a three-blade impeller deformation mechanism, and an outer end ball wheel assembly. The lateral deployment drive mechanism drives the main shaft to move outward, causing the three-blade impeller deformation mechanism to deploy radially, and then the rotation drive mechanism drives the three-blade impeller deformation mechanism to rotate circumferentially through the inner end ball wheel assembly, enabling the entire robot to move forward. By setting the three-blade impeller deformation mechanism and the lateral deployment drive mechanism, the deployment and deformation of the hemispherical wheels of the spherical robot can be achieved, and the obstacle-crossing ability of the spherical robot can be improved by expanding the radius of the ball wheels; this solution has the advantages of few driving components, low energy consumption, small volume, simple structure, and strong obstacle-crossing ability.

The utility model provides a self-rolling reconnaissance ball for city street battle, which belongs to the technical field of spherical robots and comprises a ball body provided with a containing cavity and a reconnaissance hole; the bracket is rotatably connected with the ball body and is positioned in the accommodating cavity; the camera is connected with the bracket; the driving assembly comprises a gear ring, a gear and a first motor, the gear ring is connected with the support, the gear is connected with the first motor and meshed with the gear ring, and the first motor is connected with the support; and the power supply element is connected with the bracket. The beneficial effects of the utility model are that the first motor drives the gear to rotate and drives the sphere to move relative to the support through the gear ring, so that flexible movement is realized, and the camera can shoot clear pictures; the self-rolling investigation ball for the city street battle can autonomously move in a complex city street battle environment and carry out reconnaissance.

The application belongs to the technical field of robots, and particularly relates to a freely steering magnetic driving spherical robot, which changes the distribution of magnetic fluid in the shell by controlling the discharge of electromagnets, so that the spherical robot generates centroid deviation and then displacement to realize the rolling of the robot, and can also generate jumping of the robot by the impact of the impact block attracted by the electromagnets; the spherical structure enables the robot to freely move in various directions and is not limited by the environment, solves the problems of movement and operation in the complex environment that cannot be adapted by traditional spherical robots, can perform various tasks in the environment that cannot be reached or is dangerous, can reduce the risk exposure of human beings, and improves the efficiency and reliability of tasks.

The invention discloses a rolling sucker robot in the technical field of wall-climbing robots, which comprises a spherical shell, a rolling support structure is arranged in the spherical shell, the rolling support structure is connected with an eccentric driving mechanism through a connecting structure, the eccentric driving mechanism is provided with an eccentric swing mechanism in a matched manner, and the swing mechanism is provided with an adsorption mechanism in a matched manner. And the adsorption mechanism and the eccentric driving mechanism are matched with a control module. The strength of the spherical shell is increased through the rolling supporting structure, and the eccentric driving mechanism drives the eccentric swing mechanism to act, so that the gravity center of the whole system is changed, the spherical shell rolls on the ground, and autonomous movement of the robot in any direction is achieved; and meanwhile, the adsorption mechanism can enable the spherical shell to generate effective adsorption force on the corresponding position of the rolling wall surface of the spherical shell, so that stable adsorption on the wall surface is realized. The requirements of the two aspects of motion performance and site requirements can be met, and flexible motion of the spherical robot on a complex site is achieved.

The invention discloses a detection robot with a composite motion mode. The detection robot comprises a spherical body, a six-foot crawling mechanism, a swing arm and a driving mechanism. The six-foot crawling mechanism is arranged at the bottom of the spherical body, and the six-foot crawling mechanism has a crawling state of extending out of the spherical body and a storage state of deforming into the outer cambered surface of the bottom of the spherical body; the two swing arms are respectively arranged on two opposite sides of the spherical body in a swinging manner; the driving mechanism is arranged in the spherical body, and when the detection robot becomes spherical, the driving mechanism is used for controlling the two swing arms to swing and make contact with the ground so as to drive the detection robot to roll; according to the scheme, the advantages of a spherical robot and the advantages of a hexapod robot are combined, and the robot can move by changing modals according to different environments and requirements so as to adapt to different application scenes.

This invention relates to a modular spherical robot, comprising a spherical shell, a frame disposed within the shell, and a self-reconfiguration mechanism mounted on the frame. The self-reconfiguration mechanism includes an even number of circumferentially distributed first magnetic attractors, with adjacent first magnetic attractors having opposite outward polarities. The self-reconfiguration mechanism also includes a second driving mechanism for driving the multiple first magnetic attractors to rotate synchronously by α degrees, where α is the included angle between two adjacent first magnetic attractors. The outward-facing side of each first magnetic attractor forms a magnetically controlled area within the spherical shell. The self-reconfiguration mechanism also includes several second magnetic attractors, the number of which does not exceed the number of first magnetic attractors. Each second magnetic attractor is located within a magnetically controlled area and is hinged to the frame. Each second magnetic attractor can rotate around its hinge axis, changing its outward polarity. This invention provides second magnetic attractors within the spherical shell, and the polarity of the second magnetic attractors facing outwards from the shell can be changed, facilitating the connection and separation of the spherical robot.

The invention belongs to the technical field of robots, and particularly relates to a deformable spherical robot and a moving method thereof. Comprising a main machine frame and variable wheel set devices arranged on the two sides of the main machine frame, each variable wheel set device has a two-wheel closed form and a four-wheel unfolded form, each variable wheel set device structurally comprises an inner wheel and an outer wheel which are eccentrically designed with the main machine frame, and the inner wheels and the outer wheels are fixed to the main machine frame through corresponding suspension devices; in the closed state, the circle centers of the inner wheel, the outer wheel and the main rack are located on the same axis. In the unfolded state, the inner wheel, the outer wheel and the circle center of the main rack form a triangular structure. The deformable spherical robot aims to keep stable and efficient movement on various terrains such as flat road surfaces, pits and protrusions through the flexible form conversion and wheel swinging strategy of the deformable spherical robot, and the adaptive capacity under different terrain conditions is remarkably enhanced.

The present invention discloses an amphibious spherical robot with adjustable rotor angle. The amphibious spherical robot includes a housing, a frame, and a rotor assembly. The housing is provided with an annular groove; the frame is disposed within the inner cavity of the housing; the rotor assembly is disposed within the frame and has a folding configuration and a flight configuration. The rotor assembly includes a folding arm, a tilting arm, and a rotor. One end of the folding arm is rotatably connected to the frame, and the tilting arm is connected between the rotor and the folding arm. In the flight configuration, the tilting arm and the rotor extend outside the housing through the annular groove to drive the robot in flight. The tilting arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor. The amphibious spherical robot with adjustable rotor angle according to the present invention has the advantages of good maneuverability and high flight maneuverability.

The spherical robot comprises a spherical shell, a side end cover and a driving mechanism, and is characterized in that the middle parting surface of the spherical shell is made of a rubber material, a supporting rod is arranged in the side end cover, and when the robot sinks into the mire, the driving mechanism drives the supporting rod to rotate. The rubber material of the spherical shell is sunken inwards to trigger an internal sunken part detection mechanism, and at the moment, a supporting rod in the side end cover extends out to assist the spherical shell to leave the mire and continue to move; when the robot stops, the supporting rods in the side end covers extend out to support the whole robot, and the stability during working is ensured; the problems that an existing spherical robot is difficult to advance in the mire land, and the posture is not stable enough during working are solved.

This invention relates to a highly mobile spherical robot for lunar exploration, comprising a tread, a hub, a main frame, a steering gravity pendulum assembly, and a propulsion drive device. The tread employs a flexible mesh structure, with its two side edges fixed to the spherical hub. The steering gravity pendulum assembly achieves lateral oscillation between the gravity pendulum and the main frame via gear transmission. Two propulsion drive motors are symmetrically arranged on the main frame, transmitting torque to the hub through gears meshing with an internal gear ring. Four spokes extend from each side of the main frame, with rollers mounted at the ends of the spokes. These rollers roll in grooves on the hub, supporting the main frame and providing rotational freedom between the main frame and the hub. This spherical robot has a simple structure and is easy to control. Its flexible mesh tread structure improves the robot's ability to traverse the sandy, soft, and undulating lunar surface, and its gravity pendulum-based structure provides self-balancing characteristics, making it suitable for autonomous exploration activities in the lunar environment.

1. Name of the designed product: Spherical robot. 2. Use of the designed product: The designed product is used for spherical robot. 3. Design points of the designed product: The shape. 4. Picture or photo best indicating the design points: Fig. 1.

The application belongs to the technical field of spherical robots, and particularly relates to a tail support structure of a spherical robot. The application comprises a tail buckle, a tail support, a tail, a driving mechanism, a tail buckle rotating shaft, a tail buckle torsional spring, a tail support rotating shaft, a tail support torsional spring, a tail rotating shaft and a tail torsional spring. The tail buckle, the tail support and the tail are respectively installed on the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. The tail buckle, the tail support and the tail are respectively provided with the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring at the rotating connection positions of the tail buckle rotating shaft, the tail support rotating shaft and the tail rotating shaft. When the tail is in a closed state, the tail support torsional spring and the tail torsional spring are in a pre-tightening state. The driving mechanism is in engagement with the tail buckle. Under the actions of the driving mechanism, the tail buckle torsional spring, the tail support torsional spring and the tail torsional spring, the tail can be automatically opened, and can be manually closed and stored when the work is completed, which is convenient and reliable.

The present disclosure concerns an articulated positioning system for positioning a scientific tool in predetermined position and orientation with respect to a head of a subject, the articulated positioning system comprising: a spherical robot arm assembly defining an arm displacement sphere, the spherical robot arm assembly comprising: a proximal arm segment comprising a base-mounting end portion connectable to a support structure and an opposed distal segment-mounting end portion, the proximal arm segment forming a proximal arc of the arm displacement sphere; and a distal arm segment comprising a proximal segment-mounting end portion pivotally mounted to the distal segment-mounting end portion about an arm segment connection axis and an opposed tool-holding end portion, the distal arm segment forming a distal arc of the arm displacement sphere. It also concerns a corresponding robotized positioning assembly and a corresponding method for positioning the tool in the predetermined position and orientation.

The invention discloses a water-land-air multi-domain micro-spherical robot system which comprises a spherical protective shell, a multi-mode core processing module, an integrated electronic speed controller and a power module, wherein the multi-mode core processing module, the integrated electronic speed controller and the power module are arranged in the spherical protective shell. The spherical protective shell comprises a hollowed-out upper outer layer, a closed upper inner layer, a closed lower inner layer and a hollowed-out lower outer layer, the closed upper inner layer, the closed lower inner layer and the hollowed-out lower outer layer are sequentially connected to the hollowed-out upper outer layer, a spherical shell is formed, and the closed upper inner layer and the closed lower inner layer are arranged to provide comprehensive protection for an internal hardware system of the robot; the hollowed-out upper outer layer and the hollowed-out lower outer layer provide sufficient airflow circulation space for the power module while protecting the robot system, power of the power module is guaranteed, through combination of closing and the hollowed-out spherical shell, anti-collision protection of the internal structure can be achieved, the sufficient airflow circulation space is provided for the interior, and the working efficiency of the power module is improved.

The invention provides a self-recognition method for the relative attitude of a differential wheel trolley in a spherical robot, and relates to the technical field of robot technology and intelligent control, and the method comprises the steps: constructing a Gaudberg polyhedron derived spherical grid system, and regularly deploying targets carrying three-dimensional coordinate information on the inner wall of a spherical shell; and establishing an indirect conversion path from the carbon steel spherical shell sphere center coordinate system to the internal differential wheel axle center coordinate system, and fusing the target information to generate a pose matrix comprising coordinates of a plurality of preset points on the differential wheel trolley in the carbon steel spherical shell sphere center coordinate system, so as to complete the identification of the relative attitude of the differential wheel trolley in the spherical robot. The technical obstacle that the relative pose in a separated driving structure cannot be measured is broken through, the environment sensing capacity and the mode switching reliability of the bimodal spherical robot are remarkably improved, and a brand new pose sensing normal form is provided for a multi-task robot system under the complex terrain.

The present invention discloses a spherical robot with multi-mode motion, comprising: a rolling drive module, a jumping drive module, and a spherical shell, wherein the rolling drive module and the jumping drive module are both arranged inside the spherical shell; the spherical shell comprises a main body shell and a jumping shell, wherein the main body shell is provided with a first open end, and a movable cover of the jumping shell is arranged at the first open end; the jumping drive module comprises an elastic energy storage component, wherein the elastic energy storage component is connected to the jumping shell, and when the elastic energy storage component stores energy, the jumping shell is contracted toward the center of the ball, and when the elastic energy storage component releases elastic potential energy, the jumping shell pops out in a direction away from the center of the ball. The spherical robot can not only travel on a horizontal ground, but also can be converted into a jumping travel mode to jump out of a low-lying area when it falls into a low-lying area and cannot travel out by rolling.

The invention relates to a mobile robot technology, in particular to a multi-loop spherical robot derived based on a Bricard mechanism, which comprises a first spherical shell, a second spherical shell, a third spherical shell and a fourth spherical shell, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod; a first connecting seat, a second connecting seat, a third connecting seat, a fourth connecting seat, a fifth connecting seat and a sixth connecting seat; the single-degree-of-freedom driven spherical robot is composed of a spherical shell and a driving motor, multiple loops are derived through a Bricard mechanism to be combined with the spherical shell, a new structure of the single-degree-of-freedom driven spherical robot is obtained, and the single-degree-of-freedom driven spherical robot has the movement ability of a rolling gait, a creeping gait and a

The invention discloses a coronavirus appearance imitating hyperelastic memory alloy rod triggering type spherical robot. The robot is mainly composed of a rod end contact, a hyperelastic memory alloy rod, a tough wire, a rod sleeve, a spherical shell, a micro camera, a hexagonal connecting prism, a straight-through connector, a take-up and pay-off device, a dodecahedron inner core, a control panel and a nine-axis attitude sensor. The take-up and pay-off device drives a winding reel to rotate through a motor so as to take up the tough wire, an elastic rod on the outer surface of the spherical robot deforms, then the tough wire is rapidly released, the bent elastic rod rebounds to provide power for movement of the robot, meanwhile, the take-up and pay-off device and the elastic rod reset, and continuous movement of the robot is guaranteed. The bending degree of the elastic rod can be controlled by changing the position of the knot on the toughness line, and the ejection period is controlled by the control system. The robot is unique in structure, novel in principle, composite in function, high in man-machine interaction and sensing capacity and high in movement flexibility and stability, and has important theoretical significance and practical value for research of spherical robots.

A single power steering spherical robot based on Bennett mechanism, which is a spatial single closed chain mechanism. The single power steering spherical robot based on Bennett mechanism is composed of a first connecting rod (1), a second connecting rod (2), a third connecting rod (3), a fourth connecting rod (4), a first spherical mechanism (9), a second spherical mechanism (8), a third spherical mechanism (5), a fourth spherical mechanism (6) and a driving motor (7). By controlling the forward and reverse rotation of the motor, the robot can realize straight motion and steering motion, and will be well applied in the fields of education, entertainment and military.

The invention discloses a spherical robot control method and device based on a mini-host and a single chip microcomputer, and belongs to the technical field of spherical robot control. The spherical robot control device comprises the mini-host, an accelerometer, a gravity pendulum, a flywheel, a gravity pendulum motor, a flywheel motor, the single chip microcomputer, a CAN signal transmission line, a PS2 handle and a PS2 receiver, the system is used for straight movement control of the spherical robot, signal transmission between the accelerometer and the mini-host and receiving and transmitting of relevant parameters between the mini-host and the single chip microcomputer are achieved through serial port communication, the single chip microcomputer controls the gravity pendulum motor and the flywheel motor, and steering and straight movement of the spherical robot are achieved through conservation of rotational inertia. Finally, the required stable motion state is achieved, motion control over the spherical robot is achieved, motion control over the spherical robot under the actual condition is optimized through a model predictive control algorithm, and motion of the spherical robot is more stable and controllable.

The invention discloses an upper limb home rehabilitation system based on a Sphero spherical robot. The hardware system comprises the Sphero spherical robot, a terminal computer, a camera with a bracket and scene coordinate paper, and the software system comprises a Visual Studio development module, an OpenCV machine vision library module, a GUI interface input module and a Sphero robot identification and tracking module. The invention realizes rehabilitation training for patients based on the interaction between the Sphero spherical robot and the patients, controls the movement of the Sphero spherical robot through the software system, and the patients perform rehabilitation training for the upper limb muscles in a way of chasing and grasping with their hands. The camera with a bracket cooperates with the software system to realize the recognition and tracking of the Sphero spherical robot and the recognition of the successful grasping of the patients, thereby increasing the interest of the rehabilitation training, and realizes the selection of training with different difficulties through the reasonably designed scene coordinate paper, thereby increasing the effect of the rehabilitation training.

The present invention discloses a spherical robot attitude disturbance compensation control method and system. The control method includes: S1, the nutation angle θ and the spin angle #imgabs0#; S2, subtracting the nutation angle θ and the spin angle #imgabs1# from the real-time nutation angle y of the robot θ and the real-time spin angle #imgabs2# to obtain the error quantity e θ and #imgabs3# and differentiating them to obtain the differential quantities #imgabs4# and #imgabs5#. S3, inputting e θ and #imgabs6# and #imgabs7# and the quantity #imgabs8# into a fuzzy PID controller respectively to obtain the control quantities u θ and #imgabs9#. S4, combining u θ and #imgabs10# and transmitting them to the pendulum spherical robot for execution, collecting the attitude angle and angular velocity of the spherical robot, and outputting y θ and #imgabs11#. S5, sending the attitude angle, angular velocity and the control quantity u pid to the nonlinear disturbance observer to output the estimated disturbance #imgabs12#. S6, subtracting the disturbance #imgabs13# from the control quantity u pid to obtain the control quantity #imgabs14# and sending it to the pendulum spherical robot, and repeating steps S2 to S6 until the attitude adjustment is completed.