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This paper presents a novel design of an Omnidirectional bendable Omnicrawlermodule- CObRaSO. Along with the longitudinal crawling and sideways rollingmotion, the performance of the OmniCrawler is further enhanced by theintroduction of Omnidirectional bending within the module, which is the keycontribution of this paper. The Omnidirectional bending is achieved by anarrangement of two independent 1-DOF joints aligned at 90? w.r.t each other.The unique characteristic of this module is its ability to crawl inOmnidirectionally bent configuration which is achieved by a novel design of a2-DOF roller chain and a backbone of a hybrid structure of a soft-rigidmaterial. This hybrid structure provides compliant pathways for the lug-chainassembly to passively conform with the orientation of the module and crawl inOmnidirectional bent configuration, which makes this module one of its kind.Furthermore, we show that the unique modular design of CObRaSO unveils itsversatility by achieving active compliance on an uneven surface, demonstratingits applications in different robotic platforms (an in-pipeline robot,Quadruped and snake robot) and exhibiting hybrid locomotion modes in variousconfigurations of the robots. The mechanism and mobility characteristics of theproposed module have been verified with the aid of simulations and experimentson real robot prototype.

CObRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft OmniCrawler Module