The method of roll maintain for spherical robot of torque driven type from the external impact

This paper propose a new balance control method of spherical robot. When motors generate turning force, Spherical robot can maintain the balance for roll using the moment of inertia and angular acceleration. This method which is fixed to the center axis by bearing has zero angular acceleration, so spherical robot maintains the balance from disturbance and external impact. For the measurement of roll slope, this system used the gyro and acceleration sensor and used the kalman filter because of exact measurement of gyro and acceleration sensor which have a noise.