Multiple Behaviors Generation by 1 D.O.F. Mobile Robot

In this research, we developed a sphere-shaped mobile robot that can generate multiple behaviors by using only one motor. The robot can generate the translational motion and the rotational motion by controlling the motion of the motor. The motor itself acts as an eccentric weight during motions. To generate emergent behaviors, many protrusions are mounted on the surface of the spherical body. The emergent behaviors occur by an interaction between the external world and these protrusions when the sphere is vibrating, and the robot can move in a random walk manner.