IROS 20250 citations
Design and Development of a Deformable Spherical Robot for Amphibious Applications*
Le Xu, Ruoyu Ren, Xiaojie Wei, Hao Lee, Hank Zhang, Kaicheng Yu, Ye Li, Chenyu Liu
Abstract
This paper presents a deformable spherical robot with a six-strut topological structure capable of achieving multimodal locomotion in complex amphibious environments. The robot realizes isotropic rolling and asymmetric jumping through its innovative geometric-based configuration while integrating an airbag-driven module for underwater buoyancy control. Based on collision dynamics analysis, we develop a prototype of the deformable spherical robot. Experiments conducted on land, in transition zones, and underwater validate the robot’s multimodal locomotion feasibility in multi-medium environments.
BibTeX
@inproceedings{iros2025_designanddevelop,
title = {Design and Development of a Deformable Spherical Robot for Amphibious Applications*},
author = {Le Xu and Ruoyu Ren and Xiaojie Wei and Hao Lee and Hank Zhang and Kaicheng Yu and Ye Li and Chenyu Liu and Siyu Gao and Lihua Lu},
booktitle = {IROS 2025},
year = {2025}
}