Feedback-Readiness Characterization of a Reconfigurable Spherical Hexapod: Synchronized On-Board Sensing for Mode-Transition Supervision

Reconfigurable robots that alternate between compact rolling-related configurations and legged locomotion require feedback that is both observable and timely enough to supervise morphology changes. This study characterizes a spherical hexapod with 30 ZX20D serial-bus servos and one S80 center-of-mass (COM) shift actuator using the submitted 12.00 s synchronized record spanning HOME, FOLD, three COM-shift states, UNFOLD, and alternating tripod gait. Recalculation from the supplied 30-servo command/feedback archive yields statewise aggregate tracking RMSE values of 1.12–2.29 deg. The largest instantaneous errors are 33.51 deg at ROLL3-UNFOLD and 32.25 deg at a GAITB reversal. Under the timing assumptions, a modeled 30-servo scan requires 26.70 ms and corresponds to a nominal upper scan rate of 37.45 Hz. COM offsets of 72, 66, and 60 mm correspond to dominant-axis attitude peaks of 24.25, 21.55, and 20.02 deg. The uncalibrated contact/load-proxy channels separate the commanded stance and swing groups by a 53.0:1 mean ratio in this record. The resulting evidence is intended to define measurable prerequisites for prospective closed-loop supervision.