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In this study, we developed a novel installation method for embedding external laser-ranging measurement sensors in a spherical shell. \tThis method can successfully install sensors without compromising on the capability such as mobile characteristics of the robot. \tIn addition, we proposed a posture estimation method using embedded laser-ranging sensors only. \tMoreover, we proposed a method for classifying point-cloud data into floors or obstacles.   The validity of these methods was verified by simulations, which demonstrated that the methods could detect obstacles and estimate the robot\u2019s posture, even in the presence of sensor noise.<\/jats:p>","DOI":"10.20965\/jaciii.2025.p1402","type":"journal-article","created":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T15:02:09Z","timestamp":1763564529000},"page":"1402-1409","source":"Crossref","is-referenced-by-count":0,"title":["Posture Estimation and Obstacle Detection by Embedding Distance-Measuring Sensors in a Spherical Mobile Robot"],"prefix":"10.20965","volume":"29","author":[{"given":"Ryota","family":"Nakagawa","sequence":"first","affiliation":[{"name":"Graduate School of Engineering, Tokyo University of Technology, 1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"name":"Editorial Office","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2929-8595","authenticated-orcid":true,"given":"Yuki","family":"Ueno","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Tokyo University of Technology, 1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"8550","published-online":{"date-parts":[[2025,11,20]]},"reference":[{"key":"key-10.20965\/jaciii.2025.p1402-1","doi-asserted-by":"crossref","unstructured":"S. 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