rolling crawler ball robot

thingiverse

ON January 2020, I rebooted the robot and revamped its design with a voronoi form. What do you think? It's a rolling ball that can open up to become a quadrobot for crawling. Each leg has three degrees of freedom, totaling twelve servomotors from TowerPro MG91. Rolling is more energy-efficient than crawling. I couldn't navigate large obstacles by rolling alone, so I integrated everything into one unit. Each leg can pivot from high or low knees, maintaining perfect symmetry and allowing the ball to rotate on the floor while changing directions. I aimed for a 100% covered ball but achieved only 90%, which is why the legs appear unusual. The robot will be equipped with eight IR sensors on the legs to detect walls and an accelerometer embedded in a microcontroller. A lithium-ion battery pack (two Li-Ion 14500 cells) will be centered within the ball, ensuring a perfect gravity center. We can adjust these settings as needed. I'll continue working on this project after completing my Smarts Cozmo for my young nephew. Feel free to reach out with any questions you may have. When I find more time, I'll create a comprehensive manual for this robot.