Concept of a hopping sphere robot for rescue

Many kind of disaster such as an earthquake require rescue robots migration abilities on irregular terrain. There are many types of robot locomotion on an irregular terrain, for example, crowing, walking and hopping. Hopping is a simple way for easy moving on the ground that is beyond calculation. This paper describes a concept of spherical hopping robot with 6 isotropic legs. We show some simulation results and one prototype robot for feasibility study.