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Among small-scale mobile robots, multimodal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low locomotion efficiency. In this work, legged and rolling gaits are achieved by a 10 cm robot having just two degrees of freedom. This is achieved by leg shaping that facilitates whole body rolling and event-driven control that maintains motion using simple inertial sensor measurements. Speeds of approximately 0.4 and 2.2 body lengths per second are achieved in legged and rolling modes, respectively, with low cost of transport. The proposed design approach and control techniques may aid in design of further miniaturized robots reliant on transducers with small range of motion.

Leg Shaping and Event-Driven Control of a Small-Scale, Low-DoF, Two-Mode Robot