Benjamin E. Shores

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A new bipedal mobile robot design that combines the benefits of rolling, walking, and climbing locomotion is discussed. The design provides these locomotion primitives without the addition of actuators beyond those required for climbing through the use of a disk-like exoskeleton that provides a rolling surface. Small joint oscillations control the center of(More)
Motivated by the need for greater speed, efficiency, and adaptability in climbing and walking robots, we have developed a bipedal planar robot that complements its walking and climbing capabilities with rolling. Rolling capabilities are provided by an innovative morphology, without the need for additional resources beyond those required by walking and(More)
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