Robot’s spheres. The inner shell consists of a sealed spherical robot, which is an independent entity and is not connected directly to the exoskeleton. Since, all the power and communication are wirelessly managed between both.
The particle's robot inner shell integrates a direct-driving method with two independent rubber-rimmed wheels inside the shell with a top slip bearing so the wheels are in firm contact with the inner shell. The outer shell covers the sealed inner shell (spherical robot), holds fourteen telescopic actuators (spines) and protects its sensors and actuators. It consists of 24 printed parts that forms a sphere. The material used for printing the outer shell is a mix of soft and rigid 3D printer material in order to withstand hits.