Introducing the hex-a-ball, a hybrid locomotion terrain adaptive walking and rolling Robot

Abstract

The purpose of this paper is to introduce the Hex-A-Ball (HAB), a robot capable of hybridizing walking and rolling locomotion for improved adaptability, velocity, efficiency, and range of operation. The HAB is a hexapod robot with a spherical exoskeleton which uses its legs and a minimal set of actuators for both walking and rolling locomotion. This paper discusses the mechanical design of the HAB, and walking and rolling locomotion strategies. © 2006 Springer-Verlag Berlin Heidelberg.