Design and Modelling of an Amphibious Spherical Robot Attached with Assistant Fins

Mobile robots that can survive in unstructured wildernesses is essential many applications such as environment detecting and security surveillance. In of these applications, it highly desirable the robot adapt robustly to both terrestrial aquatic environment, translocate swiftly between various environments. A novel concept amphibious spherical with fins proposed this paper, capable locomotion locomotion. Unlike traditional robots, whose motions are commonly induced by propellers, legs or snake-like tandem joints, utilizes rolling motion a shell principal mode environment. Moreover, spinning used steer efficiently agilely; several attached outer an assistance motion. These two modes, spinning, be unchangeably leading compact adaptive design robot. The work introduced paper brings innovative solution for