Key points are not available for this paper at this time.
This paper investigates new modes of robot land locomotion, in particular statically stable non-wheeled, non-tracked locomotion. These locomotion gaits are accomplished by a reconfigurable modular robot called Polypod using a control scheme combining a small number of primitive control modes for each module. The design of Polypod is first reviewed, then two and three-dimensional locomotion gaits are described along with two "exotic" gaits. These gaits have been implemented on Polypod or simulated on a graphic workstation.>
Mark Yim (Tue,) studied this question.