A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.

Certain embodiments disclosed in the present document relate to an electronic device and a method for operating the same. According to an embodiment, it is possible to provide an electronic device including: a ball structure including a housing and a first driving module configured to contact at least a part of an inner surface of the housing and to drive the housing; an outer ring structure rotatably coupled to an outer surface of the ball structure; an inner ring structure arranged inside the housing so as to face the outer ring structure with the housing interposed therebetween; and a second driving module arranged inside the housing so as to drive the inner ring structure.

Certain embodiments disclosed in the present document relate to an electronic device and a method for operating the same. According to an embodiment, it is possible to provide an electronic device including: a ball structure including a housing and a first driving module configured to contact at least a part of an inner surface of the housing and to drive the housing; an outer ring structure rotatably coupled to an outer surface of the ball structure; an inner ring structure arranged inside the housing so as to face the outer ring structure with the housing interposed therebetween; and a second driving module arranged inside the housing so as to drive the inner ring structure.

A mobile, spherical robot includes a spheroid shell, an internal assembly secured to the shell, and a head disposed atop the shell. The internal assembly is disposed within the shell for propelling the mobile robot. The internal assembly includes a base, a flywheel assembly rotatably secured to the base, a drive assembly rotatably secured to the spheroid shell and configured to propel the mobile robot by rotating the spheroid shell about the base a pivoting arm pivotably secured to the base, and the pivoting arm. The head is secured to the magnetized end of the pivoting arm through the spheroid shell. The head is configured to move relative to the spheroid shell and relative to the base by the pivoting of the pivoting arm.

A rotatable chair is provided with a launching member and a set of wheels. The chair includes: (i) a seat; (ii) a base; (iii) a plurality of framing members; (iv) a joystick; (v) a launching member; (vi) a nozzle; (vii) a set of motorized wheels; (viii) a directional wheel; (ix) an emergency stop button; and (x) a plurality of detachment devices to easily and quickly dismantle the chair into easily transportable parts. The base encloses a motor, a battery, a set of wheels and a water tank. The joysticks are configured to control the movement of the chair. The launching member can shoot a plurality of balls. The nozzles are configured to spray water from the water tank. The set of motorized wheels and the directional wheel are configured to move and rotate the chair, respectively. The emergency stop button is configured to stop the chair from moving.

Disclosed are a counterweight structure, a robot and a method for controlling the robot. The counterweight structure includes an electromagnetic device, a counterweight block and a reset piece. The reset piece is clamped between the electromagnetic device and the counterweight block. The electromagnetic device is magnetic after being powered on, to attract the counterweight block to move towards the electromagnetic device and compress the reset piece.

Disclosed are a counterweight structure, a robot and a method for controlling the robot. The counterweight structure includes an electromagnetic device, a counterweight block and a reset piece. The reset piece is clamped between the electromagnetic device and the counterweight block. The electromagnetic device is magnetic after being powered on, to attract the counterweight block to move towards the electromagnetic device and compress the reset piece.

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

A control method, executed by a control device, controlling a robot comprising a wheel leg portion and a base portion, the wheel leg portion and the base portion comprising a plurality of joints, the method including obtaining motion information of the robot and motion information of a sphere placed on the base portion of the robot, determining, based on the motion information of the robot and the motion information of the sphere when passivity based control is performed on the sphere and the base portion, base control information for controlling the base portion and balancing the sphere on the base portion, determining, based on the base control information, a control torque for controlling each joint of the plurality of joints, and controlling each joint based on the corresponding control torque.