Design kinematic analysis, and quasi-steady control of a morphic rolling disk biped climbing robot

A new bipedal mobile robot design that combines the benefits of rolling, walking, and climbing locomotion is discussed. The design provides these locomotion primitives without the addition of actuators beyond those required for climbing through the use of a disk-like exoskeleton that provides a rolling surface. Small joint oscillations control the center of gravity of the robot in order to initiate and perpetuate quasi-static rolling motion. Simulation results are also included to validate this algorithm.