Abstract:A single degrees-of-freedom (DOF) robot with probable rolling is proposed, which is constructed by the geometric configuration of octahedron. The robot consists of 10 links, 12 revolute joints. It can realize rolling with alternate two types of gaits which are directional forward rolling gait and probable turning gait by single DOF scaling deformation. The DOF is calculated by using the screw theory. The stability and the tumbling condition are discussed by the kinematics and motion

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... sibility analysis. The dynamics model is built and simulated. In the directional forward rolling gait, the orientation of rolling is definite. In the probable turning gait, there are three possible turning orientations. This stochastic process accords with Laplace test under ideal condition with probability of 1/3. The moving path is the connection of orthogonal grid nodes, and the ergodic motion can be realized. A control method is proposed and the motion simulation is carried out. A prototype is manufactured, the forward rolling and turning function is verified through the experiment of motion.