Abstract: A robotic device (300) for inspecting structures, comprising: a body (302) extending in a longitudinal direction of the robotic device (300), the body (302) having a front end (304), a rear end (306), and opposing sides (312), (314) extending between the front end (304) and the rear end (306); a plurality of legs (316) arranged on each of the opposed sides (312), (314) of the body (302), each leg (316) comprising one or more joints; and a plurality of carriages (315), each carriage (315) connecting a leg (316) to the body (302) and being configured to allow each leg (316) to translate in a longitudinal direction relative to the sides of the body, and wherein each of the carriages (315) is configured to move independently of each of the other carriages such that a leg separation may be varied, the leg separation being the distance between any two adjacent legs on one side of the body.

Abstract: Implementations generally relate to providing addressing in a modular system. In some implementations, a method includes detecting one or more modules connected to a bus, where the one or more modules are uninitialized. The method further includes associating the one or more modules with a status address on the bus. The method further includes polling for one or more interrupts on the status address. The method further includes assigning one or more respective dynamic addresses to the one or more modules based on the one or more interrupts. Implementations also generally relate to facilitating communication in a modular system. Implementations also generally relate to facilitating general communication in a modular system.