Development of quadruped walking robot with spherical shell: improvement of climbing over a step

We have proposed and developed a new quadruped walking robot with a spherical shell, called "QRoSS". QRoSS is a transformable robot that can store its legs in the spherical shell. The shell not only absorbs external forces from all directions, but also improves mobile performance because of its round shape. In rescue operations at a disaster site, carrying robots into a site is dangerous for operators because doing so may result in a second accident. If QRoSS is used, instead of being carried in, robots are thrown in, making the operation safe and easy. We developed the QRoSS series and conducted basic experiments to verify performance, which includes landing, rising and walking through a series of movements. This paper reports details of a mechanical design to improve walking performance and development of the QRoSS V prototype model. We discuss the rising operation and performance of climbing over a high vertical step.