CN113788082B - Reconfigurable spherical robot, control system and control method thereof - Google Patents

Abstract

The invention belongs to the technical field of artificial intelligence and discloses a reconfigurable spherical robot, a control system and a control method thereof, wherein a driving mechanism comprises two sets of single pendulum bob driving mechanisms which are symmetrical relative to a sphere center plane and are respectively assembled at two sides of a central stretching mechanism; the outer end of the central extension mechanism is connected with the annular foot and is used for driving the annular foot to extend out and reset; the annular feet are provided with a plurality of same annular feet, and the outer surfaces of the annular feet form a spherical shell structure. The invention has unique external contour transformation state, so that the robot can work in different environments. On a smooth road surface, the robot rolls forwards in a spherical state; when the robot moves on a rugged and uneven complex road condition, the robot can be deformed into a crawler-like annular mechanism, the contact area between the mechanism and the ground is increased, and the environment adaptability of the mechanism is improved; when the climbing step is crossed, the unique annular foot adjusts the telescopic state to realize obstacle crossing.

Description

A reconfigurable spherical robot, control system and control method thereof

technical field

The invention belongs to the technical field of artificial intelligence, and in particular relates to a reconfigurable spherical robot, a control system and a control method thereof.

Background technique

As an important auxiliary tool to help humans expand their cognitive range, mobile robots are playing an increasingly important role in people's production and life. People continue to improve mobile robots, and develop traditional variable forms, compound types, and other new mobile robots to improve the mobility of robots. One of them is a spherical mobile robot, which is shaped like a sphere and is mainly composed of two parts: a spherical shell and an internal driving device. The external spherical shell can not only roll freely, but also protect the internal driving device. The device moves inside the spherical shell to help the spherical robot achieve different forms of motion. As a natural rolling body, the spherical shape has good motion performance and can realize flexible omnidirectional motion. Since the sphere is a perfect symmetrical structure, there will be no inability to move, such as overturning, and it can adapt to complex sports environments and narrow spaces. Compared with other traditional mobile robots, spherical robots have the advantages of small movement resistance, strong adjustment ability, strong adaptability and flexible movement, and have good application prospects in the fields of life, military, industry and entertainment.

At present: the existing spherical robot mainly realizes the movement through three ways: (1) using the eccentric torque drive, the principle mainly used is: when the center of mass of the sphere or spheroid deviates from the center of the sphere, the turned sphere has a strong self-motion Stability is used to restore balance, which drives the ball's motion. The control method of this spherical mobile robot adopts relatively simple open-loop control, which indirectly controls the output torque of the motor to control the movement of the spherical shell, which cannot guarantee the accuracy of the movement. In addition, this robot is only suitable for running on flat roads, and cannot climb slopes or overcome obstacles. (2) It is driven by the principle of conservation of angular momentum. Its working principle is that the rotor inside the sphere rotates at high speed, and the spherical robot is driven to move in all directions through the rotational moment of inertia. This spherical robot needs human assistance to maintain an upright posture in the initial stage of its movement. In addition, due to the high power consumption of the friction between the ball and the spherical shell and the high-speed rotation of the gyroscope, its movement efficiency is low, and it is difficult for the internal system to carry other equipment to complete the tasks that the spherical robot needs to perform. Similarly, this kind of robot is only suitable for running on smooth roads, and cannot climb slopes and overcome obstacles. (3) Generate motion through its own deformation. The principle is to use the repeated deformation of the robot itself to achieve energy conversion, thereby driving the movement of the spherical robot. This kind of spherical robot has a certain ability of climbing and surmounting obstacles, but it needs an elastic spherical shell and a flexible actuator. Since this kind of robot needs to be deformed repeatedly, there is no space to carry other components and drive systems, and it needs tow cable operation, and the motion environment is limited.

Through the above analysis, the problems and defects in the prior art are:

(1) Although the spherical robot has good motion performance on a flat road and can achieve flexible omnidirectional movement, it is difficult to drive on uneven roads due to the limitation of the spherical shell, and it is almost impossible to climb and overcome obstacles.

(2) Although the traditional deformable spherical robot has a certain ability of climbing and surmounting obstacles, it is a passive obstacle surmounting, that is, it cannot recognize obstacles, and cannot determine whether to cross them.

(3) The spherical robot is a typical non-holonomic system with nonlinearity, underactuation and strong coupling, coupled with the influence of external uncertain factors, which largely limits the application of the feedback control law based on the accurate model, so the spherical robot The ability to resist external disturbance is poor, and it is easy to be disturbed by external disturbances and prone to sideslip during exercise.

The difficulty of solving the above problems and defects is: due to the complex structure of the spherical robot, there are still many difficulties in order to solve the problems existing in the prior art and meet the actual engineering needs. For example, in order to realize climbing and overcoming obstacles, it is necessary to break the traditional driving mode and structural design scheme of the spherical robot, and carry out innovative design of the robot structure. In addition, in order to realize the precise control of the spherical robot, it is necessary to overcome the interference factors such as parameter uncertainty and unknown friction of the system, innovate the control strategy of the spherical robot, and establish a stable closed-loop control system.

The significance of solving the above problems and defects is that the spherical robot has significant advantages and broad application prospects in the fields of planetary exploration, dangerous environment detection, and pipeline internal detection. Therefore, designing a spherical robot with good structural characteristics and realizing precise motion control has important theoretical research significance and engineering application value.

Contents of the invention

Aiming at the problems existing in the prior art, the invention provides a reconfigurable spherical robot, a control system and a control method thereof.

The present invention is achieved in that a reconfigurable spherical robot includes a driving mechanism, a central stretching mechanism and a circular foot;

The drive mechanism includes two sets of single-pendulum drive mechanisms for providing power for the movement of the robot. The two sets of single-pendulum drive mechanisms are symmetrical with respect to the spherical center plane and are respectively assembled on both sides of the central stretching mechanism;

The outer end of the central stretching mechanism is connected with the ring foot, which is used to drive the extension and reset of the ring foot;

The annular feet are provided with the same plurality, and the outer surfaces of the plurality of annular feet form a spherical shell structure.

Further, the single pendulum driving mechanism includes a DC servo motor, a motor sleeve, a pendulum, a flange, a rolling bearing, a lead screw and a bearing retaining ring;

The DC servo motor and the motor sleeve are connected together by screws, the DC servo motor and the pendulum are fixedly connected, the outer shell of the motor sleeve and the inner rings of the two bearings have an interference fit, and are fixedly connected to the spherical shell by bolts .

Further, the DC servo motor and the pendulum are connected through a flange and a buffer pad.

Further, the pendulum includes a lead screw, a linear motor and an eccentric mass, and the eccentric mass is fixedly connected to the lower end of the linear motor.

Further, the central extension mechanism includes a steering gear, a cylindrical cam structure, a multifunctional bracket, a structural shell, leg connectors, and a battery box. The steering gear is fixedly connected to the battery box through a multifunctional bracket. The blue disc is connected with the cylindrical cam mechanism.

Further, the annular foot includes an arc-shaped housing, a first connecting piece, a second connecting piece and a third connecting piece;

The first connecting piece and the second connecting piece are fixed together by bolts to realize the connection and control of the cylindrical cam mechanism and the spherical shell;

A threaded boss is processed on the arc-shaped housing, and the third connecting piece is connected to the threaded boss through bolts.

Another object of the present invention is to provide a control system for a reconfigurable spherical robot, which includes a vision module, an attitude adjustment module, a control module, an inertial module, and an onboard power supply;

The vision module is installed on the outside of the spherical shell on both sides for sensing the external environment and road conditions;

The attitude adjustment module is used to perceive the swing angle of the pendulum, the attitude of the robot, and the movement speed information;

The control module and the inertial module are installed inside the spherical shells on both sides, and the onboard power supply is arranged inside the central extension mechanism. The inertia module is a movable mass block, which is used to ensure the stability of the sphere during operation, or to adjust the position of the center of gravity of the sphere.

Another object of the present invention is to provide a control method of a reconfigurable spherical robot, the control method of the reconfigurable robot includes:

(1) Movement mode on smooth road:

When the robot is running on a smooth road, two DC servo motors installed at both ends of the spherical shell respectively drive the eccentric masses connected to it. When the two eccentric masses swing forward at the same time, the spherical robot moves forward. When the two eccentric masses When the mass blocks swing backward simultaneously, the spherical robot moves backward. When one eccentric mass block does not move, the other mass block swings to realize turning; the control includes two aspects: (1) precise control of the walking path. Due to the influence of external environmental factors during the traveling process of the spherical robot, the walking path of the spherical robot tends to deviate from the original path. The positioning module detects the position of the contact point between the spherical robot and the ground in real time, calculates the deviation between the reference geometric path and the actual walking path of the spherical robot, and uses the deviation value as the feedback to continuously adjust the position of the inertial module (mass block), so that the spherical rolling robot The path tracking error is close to zero; (2) The precise control of the motion mode. Because the spherical robot is affected by the rolling frictional moment during the rolling process, the robot is always in a state of dynamic balance, and it is difficult for the robot to move according to the original law of motion (acceleration, deceleration, uniform speed). Real-time monitoring of the rolling friction moment and the balance angle of the heavy pendulum of the spherical robot through the torque sensor and the attitude sensor, and real-time adjustment of the output torque of the pendulum motor according to the dynamic change relationship between the rolling friction resistance moment and the balance angle of the heavy pendulum , to ensure that the robot moves according to the original law of motion (acceleration, deceleration, uniform speed), and realize the precise control of the spherical robot.

(2) Climbing mode:

When the robot climbs a slope, the six steering gears of the central extension mechanism respectively drive the corresponding cylindrical cam mechanism to rotate, and extend the six annular feet simultaneously to form a crawler-like annular mechanism; when the positioning module of the robot detects that the spherical robot is in contact with the ground When the value of the contact point along the vertical direction of the ground increases continuously for 10 times, it is determined that the spherical robot is walking on a slope section, and the signal is sent to the control system. The control system issues instructions, and the six steering gears of the central extension mechanism drive the corresponding The cylindrical cam mechanism rotates, and the six annular feet are simultaneously extended to form a crawler-like annular mechanism. At the same time, the control system calculates the size of the gravity eccentricity based on the coordinates of the contact point between the spherical robot and the ground, and couples with the rolling frictional moment of the robot to calculate the balance angle that the heavy pendulum needs to swing up, and adjust the output of the pendulum motor torque.

(3) Ways to overcome obstacles:

When the robot crosses the steps, the visual sensor installed on the spherical robot detects the contour shape of the steps and transmits the signal to the control system to control the servos close to the ring feet of the steps, and extend the ring feet close to the steps according to the height of the steps. Out, the control system controls the extension of another ring foot that is 60 degrees away from the ring foot close to the step, so as to achieve obstacle surmounting. Based on the height of the steps, the control system calculates the torque required to climb over the steps, couples with the torque generated by the ring foot far away from the steps, calculates the torque required to re-swing, adjusts the output torque of the pendulum motor, and achieves obstacle surmounting.

Another object of the present invention is to provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the control method of the reconfigurable spherical robot.

Another object of the present invention is to provide an information data processing terminal, the information data processing terminal includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the The processor executes the control method of the reconfigurable spherical robot.

In combination with all the above-mentioned technical solutions, the advantages and positive effects of the present invention are:

Compared with the traditional spherical robot, the invention has a unique external contour transformation state, so that the robot can work in different environments. On a smooth road, the robot rolls forward in a spherical state; when the robot moves on rough and uneven road conditions, the robot can be transformed into a crawler-like ring mechanism, which increases the contact area between the mechanism and the ground and improves the environmental adaptability of the mechanism . When climbing over steps, the unique ring foot adjusts the telescopic state to overcome obstacles.

In view of the influence of factors such as external disturbance and ground environment on the precise operation of the spherical robot, a nonlinear friction model and adaptive rate are introduced for feedback control to ensure high responsiveness and robustness of the system, and realize the precise path and Motion state control.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments of the present application. Obviously, the accompanying drawings described below are only some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.

Fig. 1 is a schematic structural diagram of a reconfigurable spherical robot provided by an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a driving mechanism provided by an embodiment of the present invention.

Fig. 3 is a schematic structural view of the central stretching mechanism provided by the embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the ring foot provided by the embodiment of the present invention.

Fig. 5 is a schematic diagram of the movement mode of the reconfigurable spherical robot provided by the embodiment of the present invention on a smooth road.

Fig. 6 is a schematic diagram of the climbing mode of the reconfigurable spherical robot provided by the embodiment of the present invention.

Fig. 7 is a schematic diagram of the obstacle-surmounting method of the reconfigurable spherical robot provided by the embodiment of the present invention.

In the figure: 1. Spherical shell; 2. Driving mechanism; 3. Central stretching mechanism; 4. Ring foot; 5. DC servo motor; 6. Motor sleeve; 7. Bearing; 8. Flange; 9. Eccentric mass block ;10. Linear motor; 11. Lead screw; 12. Cushion pad; 13. Steering gear; 14. Cylindrical cam structure; 15. Battery box; 16. Multifunctional bracket; 17. Leg connector; 18. Arc shell Body; 19, the first connecting piece; 20, the second connecting piece; 21, the third connecting piece.

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Aiming at the problems existing in the prior art, the present invention provides a reconfigurable spherical robot, a control system and a control method thereof. The present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , the reconfigurable spherical robot provided by the embodiment of the present invention is mainly composed of a driving mechanism 2 , a central stretching mechanism 3 , a spherical shell 1 , and an annular foot 4 .

The driving mechanism 2 is respectively connected with the spherical shells 1 on both sides through bolts, and is symmetrically arranged on both sides of the central stretching mechanism 3 . Bosses are arranged inside the spherical shells 1 on both sides to facilitate the installation of internal mechanisms.

The driving mechanism 2 in the embodiment of the present invention is composed of two sets of single pendulum driving mechanisms. Two sets of single pendulum driving mechanisms are symmetrical with respect to the spherical center plane, and are assembled on both sides of the central stretching mechanism 3 respectively. The single pendulum driving mechanism is shown in Figure 2, including a DC servo motor 5, a motor sleeve 6, a pendulum, a flange 8, a bearing 7, a lead screw 11, and a bearing retaining ring. Two sets of DC servo motor 5 and motor sleeve 6 of the single pendulum drive mechanism are connected together by screws, and the DC servo motor 5 and the pendulum are fixedly connected through flanges and buffer pads. The outer shell of the motor sleeve 6 and the inner rings of the two bearings interfere Cooperate, and are fixedly connected with the spherical shell 1 by bolts, wherein the buffer pad can produce a certain deformation, which can protect the motor shaft from torque impact and adjust the concentricity.

The pendulum in the embodiment of the present invention includes a lead screw, a linear motor and an eccentric mass, and the eccentric mass is fixedly connected to the lower end of the linear motor.

When the motor starts, because the motor and the motor sleeve are fixed, under the action of the coupling, the pendulum achieves relative rotation through the bearing. The driving torque required by the different environments of the robot is also different. The controller controls the linear motor to make the eccentric mass The block moves up and down on the lead screw guide rail, thereby adjusting the size of the moment of inertia and realizing the smooth movement of the spherical robot.

As shown in Figure 3, the central stretching mechanism structure in the embodiment of the present invention comprises main components such as steering gear 13, cylindrical cam structure 14, multifunctional support 16, structure shell, leg connector 17 and battery box 15, steering gear 13 The multifunctional bracket 16 is fixedly connected with the battery box 15, and the steering gear 13 is connected with the cylindrical cam mechanism 14 through a flange.

As shown in FIG. 4 , the annular foot structure in the embodiment of the present invention includes an arc-shaped housing 18 , a first connecting piece 19 , a second connecting piece 20 and a third connecting piece 21 . The first connecting piece 19 and the second connecting piece 20 are fixedly connected together by bolts to realize the connection and control of the cylindrical cam mechanism and the spherical shell. A threaded boss is processed on the arc-shaped housing 18, and the third connecting piece 21 is connected to the threaded boss by bolts.

The control system of the reconfigurable robot provided by the embodiment of the present invention includes: a vision module, an attitude adjustment module, a control module, and an onboard power supply. The vision module is installed outside the spherical shell 1 on both sides, the control module and the inertial module are installed inside the spherical shell 1 on both sides, and the onboard power supply is arranged inside the central stretching mechanism. The vision module mainly perceives the external environment and road conditions, and the attitude adjustment module mainly perceives the swing angle of the pendulum, the attitude of the robot, and the movement speed information. When the robot is working, the control module adjusts the outer contour and attitude of the spherical robot in real time according to the information transmitted by the vision module and the attitude adjustment module, and determines the rotation angle of the steering gear according to the height of the obstacle encountered.

The control method of the reconfigurable spherical robot provided by the embodiment of the present invention includes:

(1) Movement mode on smooth road:

As shown in Figure 5, when the robot is driving on a smooth road, two DC servo motors installed at both ends of the spherical shell drive the eccentric masses connected to it respectively. When the two eccentric masses swing forward at the same time, the spherical robot moves forward. To move, when two eccentric mass blocks swing backward at the same time, the spherical robot moves backward. When one eccentric mass block does not move, the other mass block swings to realize turning; control includes two aspects: (1) Precise control of walking path . Due to the influence of external environmental factors during the traveling process of the spherical robot, the walking path of the spherical robot tends to deviate from the original path. The positioning module detects the position of the contact point between the spherical robot and the ground in real time, calculates the deviation between the reference geometric path and the actual walking path of the spherical robot, and uses the deviation value as the feedback to continuously adjust the position of the inertial module (mass block), so that the spherical rolling robot The path tracking error is close to zero; (2) The precise control of the motion mode. Because the spherical robot is affected by the rolling frictional moment during the rolling process, the robot is always in a state of dynamic balance, and it is difficult for the robot to move according to the original law of motion (acceleration, deceleration, uniform speed). Real-time monitoring of the rolling friction moment and the balance angle of the heavy pendulum of the spherical robot through the torque sensor and the attitude sensor, and real-time adjustment of the output torque of the pendulum motor according to the dynamic change relationship between the rolling friction resistance moment and the balance angle of the heavy pendulum , to ensure that the robot moves according to the original law of motion (acceleration, deceleration, uniform speed), and realize the precise control of the spherical robot.

(2) Climbing mode:

As shown in Figure 6, when the robot climbs a slope, the six steering gears of the central extension mechanism respectively drive the corresponding cylindrical cam mechanism to rotate, and extend the six annular feet simultaneously to form a crawler-like annular mechanism; when the positioning module of the robot When it is detected that the value of the contact point between the spherical robot and the ground increases vertically for 10 consecutive times, it is determined that the spherical robot is walking on a slope section, and the signal is sent to the control system. Each steering gear respectively drives the corresponding cylindrical cam mechanism to rotate, and simultaneously protrudes six annular feet to form a crawler-like annular mechanism. At the same time, the control system calculates the size of the gravity eccentricity based on the coordinates of the contact point between the spherical robot and the ground, and couples with the rolling frictional moment of the robot to calculate the balance angle that the heavy pendulum needs to swing up, and adjust the output of the pendulum motor torque.

(3) Ways to overcome obstacles:

As shown in Figure 7, when the robot crosses the steps, the visual sensor installed on the spherical robot detects the contour shape of the steps and transmits the signal to the control system to control the steering gear close to the ring foot of the steps. The annular foot close to the step stretches out, and the control system controls another annular foot at a distance of 60 degrees from the annular foot close to the step to stretch out, thereby realizing obstacle surmounting. Based on the height of the steps, the control system calculates the torque required to climb over the steps, couples with the torque generated by the ring foot far away from the steps, calculates the torque required to re-swing, adjusts the output torque of the pendulum motor, and achieves obstacle surmounting.

In the description of the present invention, unless otherwise stated, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer" , "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field within the technical scope disclosed in the present invention, whoever is within the spirit and principles of the present invention Any modifications, equivalent replacements and improvements made within shall fall within the protection scope of the present invention.

Claims (5)

1. A reconfigurable spherical robot, characterized in that, said reconfigurable spherical robot comprises a driving mechanism, a central extension mechanism and a circular foot; The drive mechanism includes two sets of single-pendulum drive mechanisms for providing power for the movement of the robot. The two sets of single-pendulum drive mechanisms are symmetrical with respect to the spherical center plane and are respectively assembled on both sides of the central stretching mechanism; The outer end of the central stretching mechanism is connected with the ring foot, which is used to drive the extension and reset of the ring foot; The annular feet are provided with the same plurality, and the outer surfaces of the plurality of annular feet form a spherical shell structure; The single pendulum driving mechanism includes a DC servo motor, a motor sleeve, a pendulum, a flange, a rolling bearing, a lead screw and a bearing retaining ring; The DC servo motor and the motor sleeve are connected together by screws, the DC servo motor and the pendulum are fixedly connected, the outer shell of the motor sleeve and the inner rings of the two bearings have an interference fit, and are fixedly connected to the spherical shell by bolts ; The DC servo motor and the pendulum are connected through a flange and a cushion; The pendulum includes a lead screw, a linear motor and an eccentric mass, and the eccentric mass is fixedly connected to the lower end of the linear motor; The central extension mechanism includes a steering gear, a cylindrical cam structure, a multifunctional bracket, a structural shell, leg connectors, and a battery box. Connected with cylindrical cam structure; The annular foot includes an arc-shaped shell, a first connecting piece, a second connecting piece and a third connecting piece; The first connecting piece and the second connecting piece are fixed together by bolts to realize the connection and control of the cylindrical cam structure and the spherical shell; A threaded boss is processed on the arc-shaped housing, and the third connecting piece is connected to the threaded boss through bolts. 2. A control system for the reconfigurable spherical robot of claim 1, wherein the control system of the reconfigurable spherical robot comprises a vision module, an attitude adjustment module, a control module, an inertial module and a machine power supply; The vision module is installed on the outside of the spherical shell on both sides for sensing the external environment and road conditions; The attitude adjustment module is used to perceive the swing angle of the pendulum, the attitude of the robot, and the movement speed information; The control module and the inertial module are installed inside the spherical shells on both sides, and the onboard power supply is arranged inside the central extension mechanism. 3. A control method for the reconfigurable spherical robot of the control system for the reconfigurable spherical robot according to claim 2, wherein the control method for the reconfigurable spherical robot comprises: (1) Motion control on smooth road: When the robot is running on a smooth road, two DC servo motors installed at both ends of the spherical shell respectively drive the eccentric masses connected to it. When the two eccentric masses swing forward at the same time, the spherical robot moves forward. When the two eccentric masses When the mass blocks swing backward at the same time, the spherical robot moves backward. When one eccentric mass block does not move, the other mass block swings to achieve a turn; (2) Climbing control: When the robot climbs a slope, the six steering gears of the central extension mechanism drive the corresponding cylindrical cam structure to rotate, and extend the six annular feet simultaneously to form a crawler-like annular mechanism; (3) Obstacle clearance control: When the robot crosses the steps, the visual sensor installed on the spherical robot detects the contour shape of the steps and transmits the signal to the control system to control the servos close to the ring feet of the steps, and extend the ring feet close to the steps according to the height of the steps. Out, the control system controls the extension of another ring foot that is 60 degrees away from the ring foot near the step to realize obstacle surmounting. 4. A computer-readable storage medium, storing a computer program, when the computer program is executed by a processor, the processor is made to execute the control method of the control system of the reconfigurable spherical robot according to claim 3. 5. An information data processing terminal, characterized in that the information data processing terminal includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor The control method of the control system of the reconfigurable spherical robot described in claim 3 is executed.

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