Reconfigurable spherical robot, and control system and control method thereof

The invention belongs to the technical field of artificial intelligence, and discloses a reconfigurable spherical robot, and a control system and a control method thereof. A driving mechanism comprises two sets of single pendulum bob driving mechanisms, and the two sets of single pendulum bob driving mechanisms are symmetrical relative to a sphere center surface and are assembled on the two sides of a center stretching mechanism respectively; the outer end of the center stretching mechanism is connected with annular feet and used for driving the annular feet to stretch out and reset; and a plurality of same annular feet are arranged, and the outer surfaces of the plurality of annular feet form a spherical shell structure. The robot has a 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 complex road conditions such as bumpy road conditions, the robot can be transfo