Development of Quadruped Robot with Spherical Shell

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Abstract
Various robots aim to search information in uneven ground have been developed. Carrying robots into uneven terrain has a risk of injury for operators. If robots can be thrown into uneven surface, the operation will be safe and easy. We have been developing a quadruped robot with spherical outer shell, called "QRoSS" which is able to land on the irregular ground. There is flat ground in the disaster site and rotational locomotion is faster than walking on the flat terrain. The object of this research is to construct rotational locomotion as one of a complex operation. The moving speed of rotation was derived from the dynamics model.