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Legless locomotion uses the legs as a reaction mass to set up oscillatory body rotations which when coupled with ground contact gradually translate the robot. Legless locomotion's continuous dynamics differs from previously studied locomotion methods because of the simultaneous interaction of gravity-induced oscillations, a configuration-dependent system inertia, and non-holonomic contact constraints. This paper employs simple models to capture the complex dynamics and uses the intuition developed from the models to develop gaits that provide planar accessibility. We also present a quantification of leg less locomotion's properties using simulations and motion-capture experiments.<\/jats:p>","DOI":"10.1177\/0278364908091023","type":"journal-article","created":{"date-parts":[[2008,4,25]],"date-time":"2008-04-25T10:19:44Z","timestamp":1209118784000},"page":"575-594","source":"Crossref","is-referenced-by-count":12,"title":["Legless Locomotion: A Novel Locomotion Technique for Legged Robots"],"prefix":"10.1177","volume":"27","author":[{"given":"Ravi","family":"Balasubramanian","sequence":"first","affiliation":[{"name":"Computer Science and Engineering, University of Washington, Box 352350, Seattle, WA 98195-2350, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alfred A.","family":"Rizzi","sequence":"additional","affiliation":[{"name":"Boston Dynamics, 614 Massachusetts Avenue, Cambridge, MA 02139, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew T.","family":"Mason","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213-3890, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"atypb1","volume-title":"Modeling and control techniques for a class of mobile robot error recovery problems. 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