Abstract: A projectile system includes an enclosure, first and second propellants and first and second projectiles. The first and second propellants are disposed within the enclosure. The first projectile is disposed within the enclosure between the first propellant and a first end of the enclosure, and is operable to exit the enclosure via the first end in response to detonation of the first charge. The second projectile is disposed within the enclosure between the second propellant and a second end of the enclosure, and is operable to exit the enclosure via the second end in response to the detonation of the second propellant.

Abstract: A robot body includes a front half and rear half and a rotatable and driven articulating joint interconnecting the front half and rear half. Multi-limbed legs extend from the robot body and are adapted to engage a ground surface to form a support polygon for each half and for the robot body. A controller is operative with each leg for determining the position and orientation of the robot body with respect to a support polygon, mapping the posture of the robot body with respect to the ground surface via the articulating joint, and determining a direction and magnitude of locomotion and translating a trajectory of locomotion to specific limb motions for each leg.