A mathematical model for a rolling legged robot that uses a shifting center of gravity

Rolling in legged robots can and should be explored for application as a second mode of locomotion that can be taken advantage of under some special circumstances. The challenges posed by this are mathematical as well as conceptual in nature. The aim of the paper is to develop a simple and straight forward relationship (mathematical model) between all the joint parameters of the robot legs and the rolling parameter, as well as provide present a simplified conceptual design of the robot for easy visualization and understanding. The model provides a concise equation that governs the motion of such system. This feature (Rolling as a second mode of locomotion) when added to a legged robot has the potential to improve the statistics of deployment of legged robots in the field.