Design of a reconfigurable spherical robot II

This paper describes the design of a three-legged reconfigurable spherical robot II. The reconfigurable spherical robot II is designed with the ability to transform from a spherical shape into a configuration of two interconnected hemispheres and three legs which are kept inside the shells can be extended to provide mobility on ground. The reconfigurable spherical robot II introduced a new method of leg deployment which reduced the amount of joint torques. Each leg is designed with 4 degrees of freedom for better maneuverability. The development of a butterfly walking concept using three-legged was presented. A dynamic simulation in MATLAB has been developed to predict loads and to verify the mobility of three-legged butterfly walking concept.