Abstract: A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.

Abstract: A low profile stepper robot is described and claimed herein. The robot includes a plurality of foot assemblies. Each foot assembly includes a suction cup, a vacuum generator, and a valve, with the vacuum generator being operationally connected to the suction cup. A conduit connects a source of operational fluid flow to the vacuum generators, and the valves allow or prevent fluid flow to the vacuum generators. Actuators are positioned between the foot assemblies and the robot base. The actuators provide for linear and rotational displacement of the foot assemblies, allowing the robot to walk and turn along an inspection surface.

Abstract: A method and apparatus for performing operations on a workpiece. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.

Abstract: A walking machine that includes a chassis with an operator interface, a main controller in data communication with the operator interface, at least two leg members operatively connected to the chassis, and a power system in data communication and electrical communication with the main controller. Each leg member includes a leg control system that includes a leg microcontroller in data communication with the main controller and at least a first electro hydrostatic actuator in electrical communication with the leg microcontroller. The power system includes an electrical generator, power supply electronics in electrical communication with the electrical generator, an electrical storage medium in electrical communication with the electrical generator and in parallel with the power supply electronics, and an electrical power bus for distributing power from the power system to the leg control systems.

Abstract: Disclosed is a hexapod walking robot having a robot arm combined with a leg and a plurality of joints. The hexapod walking robot having a robot arm combined with a leg and a plurality of joints includes a robot body; a plurality of legs installed to the robot body such that the legs have various degrees of freedom; and at least one grip unit installed to at least one of the legs such that at least one grip unit is foldable.

Abstract: A dry-dock walking machine for installation on the deck surface of a dry-dock is operable for transporting a ship to a selected location relative to the dry-dock. There is provided a plurality of laterally spaced-apart, parallel support beams rigidly interconnected and dimensioned to extend transversely beneath the ship and across at least a portion of its width to engage its hull and support it above the deck surface. A lifting jack assembly is mounted on each end of each support beam, and they are spaced apart so that each support beam has a lifting jack assembly positioned adjacent each lateral side of the ship. A stabilizer mechanism is mounted on each support beam adjacent each lifting jack assembly operable for selectively engaging a lateral side the ship's hull to establish and maintain lateral stability of the ship relative to the support beams.

Abstract: The present invention discloses a drill rig relocation system. Lift frames are provided at opposite ends of a base box of a drill rig substructure. A lift cylinder and bearing mat assembly are rotatably connected beneath the lift frame. The bearing mat assemblies may be rotated to the desired direction for moving the drill rig. The lift cylinders are then expanded, placing the bearing mat assemblies onto the ground and lifting the base boxes and drill rig off the ground. The drill rig is supported on linear sleeve bearings slideably mounted in the bearing mat assemblies. Translation cylinders on the bearing mats expanded to move the rig by translating the linear sleeve bearings along the shafts. After the lift cylinder expands to place the bearing mat on the ground, the translation cylinders are retracted, providing the linear bearing with the full length of the shaft for the next movement.

Abstract: The present invention relates to a transport device 1, comprising a load carrying body 10, at least one central walking element 80, 90, 100, a first side walking element 20 and a second side walking element 50, wherein the at least one central walking element 80, 90, 100 is arranged in-between the two side walking elements 20, 50 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving up and down with respect to the load carrying body 10, wherein the side walking elements 20, 50 can move up and down independently from the central walking element(s) 80, 90, 100 by means of vertical actuators 26, 56 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving back and forth in horizontal direction with respect to the load carrying body 10, wherein the walking elements 20, 50 can move back and forth independently from the central walking element(s) 80, 90, 100 by means of horizontal ac

Abstract: In a chassis (1) for a robot for traveling over smooth, curved or firm surfaces with two track guides that are mirror-symmetric to one another and firmly arranged in the chassis (1) in parallel with the traveling surface and self-contained in each case, along which controllable adhesive modules (14) circulate one behind the other in such a way that their adhesive feet (15), which can be lifted and lowered vis-a-vis the traveling surface, always point towards the traveling surface, the individual adhesive modules (14) have their own controllable lifting and traveling drives in each case.

Abstract: The present invention relates to a miniature robot using a plurality of piezo legs capable of deforming in two degrees of freedom by supplying input voltage signals, and an integrated artificial neural network behavior controller capable of modeling complex behavioral patterns and gait patterns by a simple structure. The miniature robot with multiple legs includes: a main body; a plurality of piezo legs constituted by bimorph piezoelectric elements and connected to the main body to generate motion through morphological deformation in two degrees of freedom by applied voltage signals, thereby resulting in movement on the ground; and a control part including an artificial neural network behavior controller, which controls motion patterns by feeding back information with respect to the environment transmitted from external sensors and to electrical signals transmitted when the piezo legs contact the surface of the ground, to control the voltage applied to each of the piezo legs.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface.

Abstract: A gripping device comprising: a house; at least one gripper configured with at least one claw, the claw being configured with a pair of first phalanxes linked to the house at a first joint, and a pair of second phalanxes linked to the first phalanxes at a second joint; a first actuator arranged on the first joint; a second actuator arranged on the second joint; and a motor configured to enable the first and the second actuators co-operate so as to push the second phalanxes off a gripping substrate, or to push the second phalanxes back to the gripping substrate.

Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.

Abstract: A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can maneuver in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved.

Abstract: A virtual reality encounter system includes motion sensors positioned on a human user. The motion sensors send motion signals corresponding to movements of the user as detected by the motion sensors relative to a reference point, the motion signals are transmitted over a communications network. The system also includes a humanoid robot, receiving, from the communications network, the motion signals to induce movement of the robot according to movement of the human user.

Abstract: A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface.

Abstract: A robot is placed on a first surface of a panel. The robot includes a body and first and second feet connected to the body via joints. A flux conducting device is positioned on an opposing second surface of the panel, opposite the robot, so that each foot of the robot is magnetically coupled to the flux conducting device. The flux conducting device is moved along the exterior surface to pull the robot along the interior surface until an obstacle on the first surface is encountered. The robot decouples one of the feet from the flux conducting device, lifts the decoupled foot above the obstacle, and moves the decoupled foot past the obstacle.

Abstract: The mobile climbing robot (15) according to the invention comprises a central joint (3), by which a first leg (1) is connected to a second leg (2). In addition, the robot comprises a first foot (8) which is connected to the first leg (1) by way of a first foot joint for rotation (5) and a first foot joint for tilting (4). A second foot (9) is connected to the second leg (2) by way of a second foot joint for rotation (7) and a second foot joint for tilting (6). A mounting (11) for attaching an implement (10; 12) is disposed on the first foot (8).

Abstract: The legged robot includes a trunk and a leg connected to the trunk. The trunk includes: a first link and a second link connected with each other via a first revolute joint that is rotatable about a roll axis; a third link connected with the first link via a second revolute joint rotatable about a yaw axis; and a fourth link connected with the second link via a third revolute joint rotatable about a yaw axis. The leg is connected to at least one of the third link and the fourth link.

Abstract: Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms and, fastened to them at a distance, controllable adhesive feet that circulate with the endless traction mechanisms along guides in the travel plane, by means of which the adhesive sides of their adhesive elements always point towards the travel surface and wherein the adhesive elements that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements are switched “OFF” and raised from the adhesive surface. The climbing robot has square running gear, and a foot plate with a guide running around the edges for a multitude of adhesive feet driven by traction mechanisms exists in each of the four corners of the running gear.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms (14) and, fastened to them at a distance, controllable adhesive feet (21) that circulate with the endless traction mechanisms (14) along guides (17) in the travel plane, by means of which the adhesive sides of their adhesive elements (15) always point towards the travel surface and wherein the adhesive elements (15) that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements (15) are switched “OFF” and raised from the adhesive surface, wherein the climbing robot has square running gear (11), one foot plate (13) each with a guide (17) running around the edges for a multitude of adhesive feet (21) driven by traction mechanisms is arranged in two diagonally opposite corner areas (18) of the running gear (11), wherein the foot plates (13) are attached to a support bar (12) of the running gear (11) and the adhesive feet (21) and therefore their adhesive

Abstract: Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.

Abstract: A multi-legged walking apparatus enables a multi-legged walking robot to walk in natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively, wherein the body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. Accordingly, by employing the first link and the driving portion, the body of the multi-legged walking robot is moved to and fro and left and right naturally in accordance with the movement of the legs during walking operation, in a similar walking pattern as that generally shown in actual multi-legged walking animals.

Abstract: A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.

Abstract: There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

Abstract: A bipod robotic walking apparatus consisting of two feet on the coupler link of a spherical four-bar linkage, for movement in a forward or rearward direction by repeated motions of the four-bar linkage. Three four-bar linkages may be connected in tandem to form a hexapod with three points of contact with the ground.

Abstract: A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator.

Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.

Abstract: A mobile robot provides telecommunication service between a remote user at a remote terminal and a local user in proximity to the mobile robot. The remote user can connect to the mobile robot via the Internet using a peer-to-peer VoIP protocol, and control the mobile robot to navigate about the mobile robot's environment. The mobile robot includes a microphone, a video camera and a speaker for providing telecommunication functionality between the remote user and the local user. Also, a hand-held RC unit permits the local user to navigate the mobile robot locally or to engage privacy mode for the mobile robot. When NAT or a firewall obstructs connection from the remote terminal to the mobile robot, an Internet server facilitates connection using methods such as STUN, TURN, or relaying.

Abstract: One embodiment of the invention includes an application of multilayer thermo-reversible dry adhesives in climbing devices.

Abstract: The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot.

Abstract: A legged robot includes: a body; a leg portion; a foot portion; a falling direction detection unit that detects a falling direction of the body; a control unit; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface. The distance detection unit includes at least three distance sensors provided on the sole, and the control unit includes distance sensor selecting means for selecting a distance sensor and gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit.

Abstract: A multi-legged walking device includes a crankshaft, a plurality of linkage bar mechanisms, a support member, and a driving device. The crankshaft includes a plurality of main journals and crankpin journals. The plurality of linkage bar mechanisms is spaced from and substantially parallel to each other. The linkage bar mechanisms include a plurality of frames. Each frame is rotatably connected to one of the plurality of main journals. Each linkage bar mechanism includes a connecting bar, a first rocker, a second rocker, and a leg. Two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg. Two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg. Two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar. The support member is fixed to the frames.

Abstract: A frame walker robot based on two sections connected by a parallel mechanism is described. The walker can step in any direction and can pose its free section in any orientation. Prismatic, rather than revolute, joints are used, leading to a scalable design.

Abstract: A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.

Abstract: A vehicle for positioning a transportable and relocatable equipment having at least four walking assemblies attached to a frame, each walking assembly having a walking pad, a roller tread, a lift assembly connected to a central collar, a rotatable motion gear assembly disposed around the lift assembly, a motor for actuating the rotatable motion gear assembly, a pivoting collar disposed around the rod operated by a controlling means with a processor, a push pull traveling system for receiving fluid and extending a specified distance causing movement of the vehicle in a first direction, and enabling the walking assemblies to raise, reorient, lower, and travel in a second direction.

Abstract: Disclosed is a walking robot having an improved driving structure for a pitch-direction femoral joint and a knee joint. The walking robot includes a pitch-direction actuator driving the pitch-direction femoral joint to rotate a femoral link relative to a body in a pitch direction, and a power transmission unit transferring driving force of the pitch-direction actuator to the knee joint to rotate the lower leg link relative to the femoral link in the pitch direction.

Abstract: The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot.

Abstract: A legged robot that ensures a large step length while keeping the height of the trunk low is realized. The legged robot is provided with a trunk, a pair of legs, and a pair of sliding joints. Each of the sliding joints links one end of each of the legs to the trunk so as to slide in a front and rear direction with respect to the trunk. For each step, one leg is caused to slide forward, and the other leg is caused to slide backward. It is possible to ensure a predetermined distance between the end portion of the one leg and the end portion of the other leg. The legged robot can make the step length large by an amount that is equivalent to this distance irrespective of the length of the legs.

Abstract: Disclosed herein is a bidirectional moving micro-robot system. The bidirectional moving micro-robot system has a first body having a plurality of legs foldably/unfoldably connected thereto, a second body having a plurality of legs foldably/unfoldably connected thereto and a connection member having both end portions respectively connected to the first and second bodies. In the bidirectional moving micro-robot system, the length of the connection member exposed between the first and second bodies is extended or contracted.

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: The mobile climbing robot (15) according to the invention comprises a central joint (3), by which a first leg (1) is connected to a second leg (2). In addition, the robot comprises a first foot (8) which is connected to the first leg (1) by way of a first foot joint for rotation (5) and a first foot joint for tilting (4). A second foot (9) is connected to the second leg (2) by way of a second foot joint for rotation (7) and a second foot joint for tilting (6). A mounting (11) for attaching an implement (10; 12) is disposed on the first foot (8).

Abstract: The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot.

Abstract: A walking bi-pedal robot includes a right leg and a left leg, each coupled with a pelvis via hip lateral angular joints and hip antero-posterior angular joints. Each hip lateral angular joint enables lateral angular motion and each hip antero-posterior angular joint enables antero-posterior angular motion of the respective leg. Right and left feet couple at the distal end of the respective leg via respective ankle lateral angular joints and right and left cables. One end of each cable is coupled with the exterior side of the respective foot. A pelvis motor couples with the right leg, the left leg, the other end of each cable. The pelvis motor generates lateral angular displacement of each leg about the respective hip lateral angular joint and pulls one of the cables according to the direction of the lateral angular displacement. Leg motors generate antero-posterior angular displacement of the respective leg.

Abstract: A method for the locomotion of devices on opposite sides of a surface, one or more of which are mobile robots. Devices on opposing sides of the surface are coupled by an attractive force, which helps generate enough friction between said devices and the surface to allow devices to move across the surface.