Wilson Robot, 2018

Based on the natural systems of the Pufferfish (expanding) and Mimosa Pudica (folding) the robot hast the ability to move omnidirectional on an xy plane. Using a scissor system in the center and folding arms it has the ability to expand and contract from a planar state to a spherical one. The main base plate houses the two DC motors, which allow it to move forward, backward and turn either left or right. Also, the Arduino Board and battery pack. On a secondary plate above the base plate serves as a base for the scissor system and secondary motor that will allow the expansion and contraction of the scissor system. All while having the rails for the system. The top plate only contains rails to guide scissor system. In order to obtain the plate and spherical shape, the system consists of six arms divide in three segments, which all contain joints in its segments which allow it to fold and unfold.