A 1-DOF loop-coupled slider-crank mechanism with scissor couplings and sliding curved shells mimics a pillbug's curl, demonstrated in a two-mode robot that rolls and wheels.
Journal of Mechanisms and Robotics9(2), 021007(2017)
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A Pillbug-Inspired Morphing Mechanism Covered with Sliding Shells
A 1-DOF loop-coupled slider-crank mechanism with scissor couplings and sliding curved shells mimics a pillbug's curl, demonstrated in a two-mode robot that rolls and wheels.