Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single spring-motor system. Unlike conventional spherical robots, MonoRollBot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also do studies on its locomotion behaviours based on changes in rotating mass and stiffness properties.

翻译：球形滚动机器人在移动机器人领域因其在巡检和太空探索等应用中的潜力而备受关注。设计欠驱动滚动机器人的挑战在于，如何在利用有限数量致动器的同时，实现具有高自由度的多向推进。本文介绍了MonoRollBot，一种新型的三自由度球形机器人，它采用仅由单个弹簧-电机系统驱动的欠驱动机构。与传统的球形机器人不同，MonoRollBot采用极简致动方法，仅依靠一个电机和一个被动弹簧来控制其运动。该机器人通过弹簧动力学与电机控制的创新耦合实现了三自由度运动。在本工作中，我们详细介绍了MonoRollBot的设计，并通过设计研究评估了其运动能力。我们还基于旋转质量和刚度特性的变化，对其运动行为进行了研究。