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Simulation of A Reconfigurable Spherical Robot IV for Confined Environment

This work presents simulation of a Reconfigurable Spherical Robot IV for confined environment. The robot is a spherical shape with three legs kept inside spherical shell. Each leg has four degrees of freedom. All three legs can be extended for two types of locomotion such as legged locomotion and rolling sphere. A number of simulation has been done in steering in a wide and small radius of turning, rolling forward motion, and walking breaststroke concept. The simulation results show a promising concept of this new robot.