球型機器人經過長久的研究已發展出各式不同運動特性的控制方式，有各式各樣的球型機器人，最早期球型機器人的發想是由單球平衡機器人而來的，後來受到星際大戰電影中球型機器人的動作才有之後這些不同運動控制的球型機器人。分別為單擺式、單輪式、雙輪式、球殼改變等的運動控制。
球型機器人的運動形式有很多種，分別使用不同的驅動方式。擺動式是以重心偏移來達成滾動條件。輪型式是內部驅動機構可以在球殼內部驅動輪子來摩擦內殼使本體重心改變達成滾動的條件，重心法的控制比較簡單但對於精準控制來說相對困難，摩擦力的控制比較複雜一點但有良好的精準控制，此方式只能達成前後移動。本文行走的部分以單輪式來控制球型機器人行走，採用的控制法分別為重心法、及摩擦力的控制。
關於輪式球型機器人的轉向方式，雙輪式球型機器人在移動過程中必須要依靠輪差法來做轉向控制。本文轉向部分採用轉動慣量守恆的方式來控制球型機器人的轉向，透過下方直流馬達轉動重量轉盤產生的慣性力來達成球型機器人的轉向，此設計可以使球型機器人在做移動過程中不必減速也可以達成轉向的條件。
本文在於以轉動慣量守恆和單輪驅動來控制機器人。此系統的架構主要由兩個層級建構而成，分別為控制層與執行層，控制層的任務是下達運動命令例如:行走、轉向，藉由HC-09藍芽晶片傳送運動指令給執行層，同時接收來自執行層的姿態變化。執行層以ESP32(Espressif Systems)控制器為核心，並在本體裝設IMU慣性測量單元(Inertial Measurement Unit , IMU)來獲取姿態變化以及L298N晶片來控制兩顆直流馬達。

This paper describes the design of the MOI (Moment of Inertia) mode and the steering control of the ball robot, the design of the device of that system. Spherical robots have a sealed exterior envelope, investigation of the different modes of propulsion. Single pendulum drives spherical robots the movable centroid (barycentre) to produce the desired movement. Single wheel internal drive mechanism can drive on the internal wheels to produce the desired motion.
This paper system design applies MOI and simple drive wheels for controlling the spherical robot. This system is made up of two different entities, control layer and executive layer, respectively, the control layer with a IMU (Inertial Measurement Unit , IMU) system on spherical robots that collect data. The executive layer reads the IMU data, Bluetooth chip like transmitting to the executive layer, the microcontroller receive commands from the system in the executive layer is ESP32 (Espressif Systems) controlled that the kernel applies HC-09 Bluetooth chip data transfer.

摘要................................. i
Abstract............................. ii
誌謝............................. iii
目錄............................. iv
表目錄............................. vi
圖目錄............................. vii
第一章 緒論............................. 1
1.1研究動機與背景....................... 1
1.2 相關研究回顧........................ 3
1.2.1單輪式輪球型機器人................. 4
1.2.2雙輪式輪球型機器人................. 5
1.2.3 單擺式球型機器人.................. 5
1.2.4雙擺式球型機器人................... 6
1.2.5氣動可變形球型機器人............... 6
1.2.6球型移動機器人..................... 7
1.3研究目的與方法....................... 9
1.4論文架構............................ 10
第二章 單輪球型機器與轉動慣量機構之設計... 11
2.1單輪球型機器人支撐點設計.............. 11
2.1.1外殼大小選用....................... 12
2.1.2支撐點的數量及高度................. 12
2.2馬達的選用.......................... 15
2.2.1驅動輪馬達........................ 15
2.2.2轉向馬達.......................... 16
2.3單輪機構設計及空間規劃............... 17
2.3.1單輪支撐設計...................... 17
2.3.2重量轉盤設計與製作................. 19
2.3.3球型機器人內部空間規劃............. 20
第三章 控制系統架構..................... 21
3.1 控制系統硬體架構.................... 21
3.1.1控制層............................ 21
3.1.2驅動層............................ 22
3.1.3微控制器MCU....................... 22
3.1.4藍芽模組HC-09..................... 22
3.1.5慣性量測IMU....................... 23
3.1.6馬達驅動板L298N................... 24
3.1.7穩壓降壓晶片...................... 25
3.2軟體系統架構........................ 25
3.2.1驅動層流程介紹.................... 26
第四章 感測器校正實驗與機器人硬體測試.... 28
4.1 感測器實驗結果..................... 28
4.1.1各種濾波器動態測試................ 29
4.1.2 濾波器參數設定................... 33
4.2 驅動馬達實驗結果................... 34
4.2.1煞車PD調整平穩控制................ 36
4.2.2行走穩定控制...................... 37
4.3 轉向馬達實驗結果................... 38
4.3.1轉向與PWM實驗結果................. 39
4.4不確定因素分析...................... 42
4.4.1 馬達最大速率不足................. 42
4.4.2 裝配誤差......................... 42
4.2.3 藍芽傳輸限制..................... 43
第五章 結論與未來展望................... 44
5.1 結論.............................. 44
5.2 未來展望........................... 45
參考文獻............................... 46
Extended Abstract...................... 48

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