Shape changing locomotion by spiny multipedal robot

The use of geometric is an alternative framework for robotic locomotion instead of animal-inspired structures. We propose a spiny, multi-pedal robot that uses radial linear actuators as the legs. We developed a unique telescopic slide actuator that has a stroke up to 250% of its minimum length. The default form of the robot is a sphere with variable diameters. The radial arrangement of the telescopic slide actuators allows a large range of shape transformation and processes for rolling. We first show the basic properties of the actuator to verify the ability to elevate and propel the body. The single module of the actuator has a weight of 0.4 kg and can output a force of 25 N maximum. We demonstrate that the robot with twelve spines can change its shape to adapt to a level ground, wall, and rocky surfaces. We also show that the robot can roll on level ground with triangle-based strides. We expect further applications in surveillance and unmanned exploration.