Fig. 15From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robotRaising and shifting movement for rolling locomotion. The robot performs the raising movement by moving the grounding leg from inside to outside, thereby pushing the ground on the overturned posture, as shown in (a). The robot performs the shifting movement by moving the grounding leg forward and backward, thereby swinging the body, as shown in (b)Back to article page