Volume 27 Issue 5 - Publication Date: May 2008

Legless Locomotion: A Novel Locomotion Technique for Legged Robots

Ravi Balasubramanian, Alfred A. Rizzi and Matthew T. Mason

The International Journal of Robotics Research 2008 27: 575–594

Downloadable Files

RHex escapes after becoming highcentered - Extension 1-MPEG-4.zip (2.31mb)
A round-bottomed RHex locomotes by swinging its legs - Extension 2-MPEG-4.zip (8.94mb)
A simulation of the sphere–plane contact kinematics illustrates a sphere can translate in any direction using roll, pitch, and yaw oscillations - Extension 3-MPEG-4.zip (1.96mb)
Experiment showing RRRobot locomoting sideways - Extension 4-MPEG-4.zip (3.26mb)
Simulation showing RRRobot locomoting sideways - Extension 5-MPEG-4.zip (8.87mb)
Experiment showing RRRobot locomoting in a counter-clockwise path - Extension 6-MPEG-4.zip (8.89mb)
Simulation showing RRRobot locomoting in a counter-clockwise path - Extension 7-MPEG-4.mzip (14.4mb)
Animation of experiment motion capture showing legless locomotion gait transitions - Extension 8-MPEG-4.zip (7.17mb)

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