Patent ID: 9428019
Filing Date: 2016-08-30
CPC Classification: B60F,B60K,B62D

Claim Text:
1. A ball robot, comprising: a spherical shell; a main axle within the spherical shell; a flywheel and associated flywheel drive motor within the spherical shell, the flywheel drive motor configured to rotate the flywheel in a first direction to cause the ball robot to move forward and to rotate the flywheel in a second direction opposite the first direction to cause the ball robot to move backward; a pendulum pivotally coupled to the main axle; and a drive mechanism for driving the pendulum comprising a drive motor configured to move the pendulum in a third direction perpendicular from the first and second directions to cause the ball robot to turn towards the third direction, and to move the pendulum in a fourth direction opposite the third direction to cause the ball robot to turn towards the fourth direction.