Yoichi Masuda and Masato Ishikawa detail their work on this mobile robot in a paper, Development of a Deformation-driven Rolling Robot with a Soft Outer Shell, published for the 2017 IEEE International Conference on Advanced Intelligent Mechatronics.

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The robot has a wire drive module and soft outer shell that are joined only by prestressed wires. The soft shell and wire drive help to achieve a tough, low-cost, and lightweight design.