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Omnidirectional Amphibious Locomotion via Internal Mass Actuation

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Field robots must traverse varied terrain and obstacles while remaining robust to water, debris, vegetation, and physical contact. We present MARBLE, a fully enclosed omnidirectional amphibious rolling robot driven entirely by internal mass redistribution. Three mutually orthogonal linear sliders shift internal masses to generate body rotation, while an orientation-aware controller maps planar velocity commands into slider positions. A rigid spherical shell encloses all active mechanisms and simultaneously serves as the terrestrial contact surface, buoyant enclosure, and mounting structure for

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