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Volume 22
Issue 4
10.3390/s22041413
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Review

Spherical Robots for Special Purposes: A Review on Current Possibilities

by
Marek Bujňák
1,
Rastislav Pirník
1,*,
Karol Rástočný
1,
Aleš Janota
1,
Dušan Nemec
1,
Pavol Kuchár
1,
Tomáš Tichý
2 and
Zbigniew Łukasik
3
1
Faculty of Electrical Engineering and Information Technology, University of Zilina, 010 26 Zilina, Slovakia
2
Faculty of Transportation Sciences, Czech Technical University in Prague, 110 00 Prague, Czech Republic
3
Faculty of Transport, Electrical Engineering and Informatics, University of Technology and Humanities in Radom, 26-600 Radom, Poland
*
Author to whom correspondence should be addressed.
Sensors 2022, 22(4), 1413; https://doi.org/10.3390/s22041413
Submission received: 8 December 2021 / Revised: 7 February 2022 / Accepted: 10 February 2022 / Published: 12 February 2022
(This article belongs to the Special Issue Sensing for Robotics and Automation)
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Abstract

The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots’ sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.
Keywords: spherical robot; mobile robot; inertial sensors; cameras; temperature sensors; gas sensors; LiDAR; special applications; tunnel applications spherical robot; mobile robot; inertial sensors; cameras; temperature sensors; gas sensors; LiDAR; special applications; tunnel applications

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MDPI and ACS Style

Bujňák, M.; Pirník, R.; Rástočný, K.; Janota, A.; Nemec, D.; Kuchár, P.; Tichý, T.; Łukasik, Z. Spherical Robots for Special Purposes: A Review on Current Possibilities. Sensors 2022, 22, 1413. https://doi.org/10.3390/s22041413

AMA Style

Bujňák M, Pirník R, Rástočný K, Janota A, Nemec D, Kuchár P, Tichý T, Łukasik Z. Spherical Robots for Special Purposes: A Review on Current Possibilities. Sensors. 2022; 22(4):1413. https://doi.org/10.3390/s22041413

Chicago/Turabian Style

Bujňák, Marek, Rastislav Pirník, Karol Rástočný, Aleš Janota, Dušan Nemec, Pavol Kuchár, Tomáš Tichý, and Zbigniew Łukasik. 2022. "Spherical Robots for Special Purposes: A Review on Current Possibilities" Sensors 22, no. 4: 1413. https://doi.org/10.3390/s22041413

APA Style

Bujňák, M., Pirník, R., Rástočný, K., Janota, A., Nemec, D., Kuchár, P., Tichý, T., & Łukasik, Z. (2022). Spherical Robots for Special Purposes: A Review on Current Possibilities. Sensors, 22(4), 1413. https://doi.org/10.3390/s22041413

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