It moves by shifting its own weight around inside! 🥎
MARBLE, from the General Robotics Lab at Duke University.
A sealed sphere that rolls across land, propels itself on water, and has no external moving parts at all.
Three mass sliders sit inside on mutually orthogonal axes. Moving them displaces the centre of mass away from the geometric centre of the shell, which creates a gravitational moment about the ground contact point, which rolls the ball.
Three axes means it can do that in any direction.
As the body rolls, the slider axes rotate with it, so the mapping from "go this way" to "put the sliders here" keeps changing. The controller has to be orientation-aware and re-solve continuously while the robot tumbles.
The shell then does four separate jobs: ground contact surface, buoyancy, mounting for the passive fins, and sealed housing for everything that actuates.
Rotating it rolls the robot on land and drives the fins on water. No reconfiguration between media.
🔗 Here's the project page:
generalroboticslab.com/MARBL…
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