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—New areas of research focus on bridging the gap between mobile robotics on land and at sea. This paper describes the evolution of RHex, a power-autonomous legged land-based robot, into one capable of both sea and land-based locomotion. In working towards an amphibious robot, three versions of RHex with increasing levels of aquatic capability were created.(More)
This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine—mass 5.4 kg, length 70 cm, excluding a 28 cm tail(More)
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