rolling crawler ball robot

ON December 2019 , i restart the robot and modified the design with voronoi form , what do you think ??

it s a rolling ball wich is able to open and becomes a quadrobot to crawl .
All legs have 3 DEGRES ;so 12 servomotors. TOWERPRO MG91
because rolling is very low energical than crawling .
because rolling can t through big obstacle, i made all in one.
Each legs can open from high knees or low knees . it s completly symetrical and by the way , the legs can make the ball rotate on the floor . and change the directions .
I wanted a 100% covered ball and i reached a 90% it s why the legs seems so particuliar .
IT will have 8 IR on the legs to avoid walls . an accelerometer built in a micropy board .
li ion (2 LI ION 14500 )centered in the ball to have a perfect gravity center . WE can adjust them .

I will continue it after the smars cozmo , which is dedicated for my little nephew
don t hesitate to contact me for any questions .
WHEN i will have time i will continue this an