Multi-Movement Spherical Robot Design and Implementation

This paper proposes a multi-pose spherical robot designed to meet obstacle avoidance requirements within complex mobile environments. The motion state of the spherical robot is analyzed comprehensively in ROS and Gazebo environments. The robot can climb, roll, and fly by combining four-legged crawling, wheel-rolling, and four-rotor-flying movement methods. The robot can flexibly switch between movement modes through a corresponding deformation mechanism and spherical split design in both ROS and Gazebo environments.