Arthron-R of M-Tecks EAC, St Pantaléon-de-Larch, France. Designed by Fabrice Marsaleix, Mechanical Engineer, assisted by Effidence Company for electronics, this electric articulated robot, 500 to 600mm long has 3 hours autonomy when on batteries. Steering is operated by 2 cables along the robot that curves it right or left. Pitch control is operated by screw-nut system. Pict J M M at Villepinte on June 2012.            http://simanagement.




10x10 robot around 2000, www.bangkok.net


Dragon Runner surveillance robot of Automatika Inc, Pittsburg, Pennsylvania, headed by Hagen Schempf, now Qinetics,  and Cargenie Mellon University, about 2000. http://www.carnegie





Tri-Star II robot from 1995 of Hirose Lab (now Hirose and Fukushima Laboratories), Japan. This three wheeler omnidirectional robot with special wheels was designed for planetary exploration. http://www-robot.mes.titech.ac.jp/robot.html








Roburoc 6x6 wheeled articulated robot of Robosoft, Bidart, France dates from 2006. Payload 100 kg, speed 13 km/h, 3 Li-Ion battery pack, vertical wall : 25 cm, mass 160 kg, max slope 45°, skid steering. http://www.robosoft.com/eng/sous_categorie.






Roburoc 6x6,     http://www.nanoblog.com/


robosoft-roburoc.pdf Robosoft-roburoc.pdf


Roburoc from ISIR, 2010, in Island with Ushuaia Team.  http://guliverdesign.com




Roburoc 6 articulated 6x6. Pict J M M at Villepinte, 2008 06.


Cutlass from Remotec http://www.jedsite.info/robots-charlie/charlie/cutlass_series/cutlass_series.html





Mini indoor security robot from ECA, La Garde, France : INBOT, 2,1 kg, launch able. Many robots are manufactured by this brand. Note simplified transmissions to wheels used also with tracks. http://defense-update.com/products/m/miniROC.htm http://www.eca-robotics.com/index-fr.htm

M6 articulated mobile robot

M6 articulated mobile robot of Robovolc project of Università degli, Studi di Catania, Sicilia, in early 2000, used to explore volcanic environment. http://www.robovolc.dees.




WorkPartner Robot. From University of Helsinki. See Chapter : 'Self-levelling vehicles'. http://autsys.tkk.fi/en/WorkPartner/Media



Omnidirectional robots T1, T2, T3 of Utah State University in 1998-1999. http://www.youtube.com/watch?v=pbUSbyOfL6s           


Praetor Robot of Oto Melara. A little robot in the front can leave the Praetor.

Picture J M M in 2008 at Villepinte.


Wheeled robots of the 2000. Pictures J M M at Villepinte except low center (iRobot-LE, 1995). http://www.otomelara.it/OtoMelara/EN/Corporate/Product_and_Services/Robotics/Wheeled/index.sdo

Oto Melara OTO-TRP 1B UGV

Oto Melara Praetor



Intervention robots. Pict J M M at Villepinte 2004 06.



Robocup 2004 at Lisbon, Kohga and Outdor Edition. http://www.faculty.jacobs-university.de/anuechter/robots.html



Robotic Mule 6x6 REX unveiled in 2009. It can carry 200 kg, Built by IAI, Israel. http://www.stratpost.com/israel-shows-off-robotic-mule




Quattroped robot, 2011, of National Taiwan University fitted with wheels or legs for uneven terrains. It looks like RHex of Boston Dynamics. http://www.robot


National-taiwan-university-develops-a-leg-wheel-hybrid-mobila.mp4 from : http://www.youtube.com/watch?v=a9N6Zb_K2Z0


quattroped-wheeled-leg-robot-a-mettre-en-ligne-2009-iros-1.pdf quattroped-wheeled-leg-robot-a-mettre-en-ligne-2009-iros-1.pdf




PAWL-40 robot, 2007, of Collineo, Boucherville, Québec. Mobility system is inspired by Shrimp of EPFL, Lausanne. http://www.collineo.net/


Toolkit surveillance robot of Collineo, Wheeled-legged robots with legs, which can bend, for better mobility.



Mini-Whegs robot with adhesive feet on vertical surface. University of Cleveland, Ohio. http://biorobots.cwru.edu/projects/climbing/


Mini-Whegs robot can run fast over uneven terrains and over obstacles taller than their body length. Case Western Univ, Cleveland, Ohio. 



Whegs II Ultrasonic of Case Western Reserve University, Cleveland, can detect too large obstacles to avoid them. The whegs can easily cross over others obstacles.





Lunar Electric Rover, LER, 2009, 12x12, wheels can turn on themselves for steering. Pressurized for 2 astronauts with sleeping and sanitary for 14 days, it is designed for a trip of 1000 km at an average speed of 9,66 km/h. Variable ground clearance. http://airandspace.si.edu/imagedetail.cfm?



Chariot Lunar Rover of NASA, 2008        http://usrc.blogspot.fr/


Journey jBot 6x6 robot of 2005-2008 fitted with coil springs suspension and built by David Anderson Texas in his garage. http://www.geology.smu.edu/dpa-www/robo/jbot/index.html



Wheeler 6x6 robot of 2008, from Granosik et al. and Technical University of Lodz, Poland. Equipped with passive joint as Genbu robot of S. Hirose. http://www.expo21xx.com/automation21xx/18935_st2_university/default.htm


iRobot LE, 1995, was the was the first multipurpose domestic robot of iRobot Corporation, controlled through the Web and cameras. Front wheels on articulated arm helped to climb stairs. http://www.irobot.com/filelibrary/ppt/corp/cool_stuff_ppt/img13.html



iRobot LE              



GOAT (Goes Over All Terrain) UGCV robot, 2003, 4x4 robot of Cargenie Mellon University and Georgia Tech. Actuated arms allows to cross obstacles and to remain horizontal. http://www.cs.cmu.edu/~trb/goat/



Astro Car of Paramount Toys around 1970. http://projectswordtoys. blogspot.com/2009/11/lunar-climber -origin-by-blog-reader.html 



Lunar Climber of PAYA Toys, in the 70s, Spain. The Tri-star wheels are the same concept than Terrastar of Lockheed or Landmaster of Dan Jeffries. http://projectsword




Loper robot, 2008, from University of Minnesota, uses Tri-Star Wheels. http://www.tcdailyplanet.net/news/2011/12/22/department-defense-projects-bring-military-touch-civilian-research http://distrob.cs.umn.edu/loper.php


Epi.q robot. The arms of the Tri-Star wheel can be unfolded for crossing larger obstacles. http://www.dimec.unige.it/pmar/pages/research/robot/mobile%20robot/epiqrobot.htm


This Epi.q robot also studied by University of Genova has no foldable legs but 4 Tri-Star wheels.








Epi.q-1 surveillance robot of Pr. Joseph Quaglia from University of Torino, using a Tri-Star wheels whose legs can be folded or unfolded for large obstacles. Epicyclical transmission to the wheels by 2 degrees of freedom is simple, the whole set of wheels being driven automatically by an obstacle.




CKbot robot of University of Pennsylvania is a chain style modular robot small and inexpensive, manually reconfigurable for research on dynamic locomotion. http://www.ros.org/news/2010/04/robots-using-ros-modlabs-ckbots.html



Asguard I and II, 2008, and Ceasar Robots of University of Bremen are 'whegs' robots. They were tested on a particularly well designed special track of the Robotic Center and Ceasar (below), the last of the family won 2009 ESA contest. http://robotik.dfki-bremen.de/en/research/robotsystems/asguard-i.html

Asguard Robot


Ceasar Lunar Robot, 2008. http://robotik.dfki-bremen.de/en/research/robotsystems/cesar.html



ANT articulated 6x6 Robot Project of RDDC Suffield, Alberta, in early 2000 as demonstrator to evaluate outdoor mobile robots, fitted with wheels and legs for top locomotion. Unmanned and autonomous. http://www.drdc-rddc.gc.ca/drdc/fr/sciences/prog/

Rover Sojouner for Mars Pathfinder, 1997. Pict from 'Science et Vie', Feb 1997.

Robot platforms probably from ALS, Autonomous Land Systems, DRDC, Canada about 2000s. In lower left corner it seems to be an interesting mobility configuration.

ERA robot in Desert Research Station, Utah, built by Advanced Spacesuit Lab of NASA for testing working both humans and robots. http://www.space.com/424-boudreaux-space-man-friend.html

CRAB  6x6 from ETH, Zurich,  Switzerland. http://www.asl.ethz.ch/robots/crab



Hylos robot, 2003    http://www.itep.ws/pdf




Hylos robot, 2003, from Christophe Grand of Robotic Laboratory of Paris and CEA, Fontenay aux Roses, with hybrid leg-wheels.


The same Hylos wheeled legged robot from about 2006-07 at Pierre et Marie Curie University, Paris. See Chap 'Self-leveling vehicles'. http://www.cnrs.fr/cw/dossiers/dosrob/legendes/hylos01.html http://www.cnrs.fr/paris-michel-ange/design-doc/Expo/Expo%20CNRS/www.cnrs.fr/CMA/dyna/articlef4c2.html?




Hylos robot, 2008, from ISIR and Pierre and Marie Curie University. Its directional four wheeled legs gives it the capacity to reconfigure securing the difficult obstacle crossing in alternating modes of travel depending on the terrain. It easily passes the pure rolling on plan floor to the crossing type of discontinuity steps of staircase. http://guliverdesign.com/hylos.htmlhttp://www.cnrs.fr/cw/dossiers/dosrob/accueil/decouvrir/explorer/hylos.html



Lamalice 4 wheels articulated nano-robot for planetary exploration and surveillance, from EPFL, Lausanne, 1999. Speed is 1 cm/s, 11 cm long, mass 30 g. The wheels are made of flexible blades radially fixed on the axis. On one hand this permits the wheels to be rolled up for transport, on the other hand a smooth movement of the gravity center is reached, which increases power efficiency of the obstacle overcome. http://projects.asl.ethz.ch/robox/database/other%20robots/page_01.htm



SpaceCat Mobile Robot of EPFL of Lausanne in 1999, mass 2 kg, + 2 kg payload, speed 5m/h. It can roll or walk with Tri-Star Wheels. http://library.epfl.ch/en/theses/?nr=2833&fmt=appendix http://ai.stanford.edu/~conti/spacecat.html


Shrimp robot was built in early 2000 by EPFL, Lausanne. Bleubotics markets Shrimp III since 2005. This robot behaves like an articulated 6x6 (like Metrac of Meili or Gama-Goat) but fitted with a non-active pitch control (springs). Simple and effective. http://www.




Shrimp III of Bleubotics SA., Switzerland, marketed in 2005. http://www.bluebotics.com/mobile-robotics/shrimp-3


Search and Rescue robot of Temasek Polytechnic at Singapore. This robot is issued from Shrimp of EPFL, Lausanne.


Octopus robot, 2004, from EPFL, Lausanne, Switzerland. When an obstacle was detected by the wheel deformation, mechanism moved arms in the right direction to overcome it. EPFL now ETH is at Zurich. http://www.asl.ethz.ch/robots/octopus



Shrimp EPFL Robot                                   



Uptech Voyager-IV Robot Development Platform marketed by Utech Robotics, China.  http://www.robotshop.com/uptech-voyager-iv.html


Petrobas robot from Petrobas robotics laboratory (CENPES), for collecting environmental information from Amazon regions.   http://www.nasa.gov/offices/oce/appel/ask/issues/38/38s_petrobras.html   and   httpwww.google.







HER, Hybrid Environmental Robot, 2011, for use in Amazon forest belongs to the Brazilian energy firm Petrobas. It was developed by Piatam, Brazilian State University and Petrobas. It is fitted by 8 electric motors, almost spherical wheels and a much elaborated active suspension.      http://bob-basic.blogspot.fr/2011_03_01_archive.html   http://www.coep.ufrj.br/~gfreitas/projectsenglish.html                  http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782010000400011


Next Mars Rover of NASA, Curiosity, which landed on Mars on 2012 08 06.  http://mars.jpl.nasa.gov/msl/mission/rover/


N° 7 Robot, 2009, is a 6 wheels experimental platform, each wheel with its motor hub wheels.  Suspension arms are controlled by other electric motors and detectors of obstacles to cross them. A spring suspension is incorporated too and an all automatic system improves performances.               http://projects.roboclub.ru/index.shtml?demon7




Low Coast Personal Porter Robot. It can follow its master.     http://www.diginfo.tv/v/11-0193-r-en.php


 GM Lunar 6x6 Car used as mobility test, early 60s. the drawing is on a postcard :   http://www.cardcow.com/322860/gm-mobility-test-article-transportation-space-rockets/


 Foxbot, 2006, from Roboterwerk Gmbh, Germany. Independent suspension must be noticed.   http://www.roboterwerk.de/en/projekte_auf



Crawler robot, 2011, RC, powered by lithium batteries. Legs are flexible and can grip on different kind of surfaces. Sponsored by Trumpf Group, Ditzingen, Germany and Institute of Stuttgart http://afistofrap.blogspot.fr/2011/10/mechanik-laser-tv.html


Marsokhod 1988, Lama 1994-95 or J-Rover 1996 from VNIITM.   http://www.enlight.ru/




Russian Planetary Robots. Above L and R : Marsokhod, 1989. This mock-up was demonstrated at 11 International Exhibitions in the USA, Spain, Sweden, France, Germany, Korea, Taiwan. Lower left : XM-Scepka, running mock-up of the Coupling Chassis, 1971. Lower right : Running mock-up with inflatable wheels (1989). From : http://www.enlight.ru/



LMRC Demonstrator, 1997, from VNIITRANSMASH, St Petersburg. Motors and gear boxes came of the Swiss Mackon firm. From : http://www.enlight.ru/





LRM Lunar Robotic Mockup (LRV), articulated suspension, FWD and FWS. Developed by Rover Company, St Petersburg, on ESA European Space Agency contract.   http://robotics.estec.esa.int/Xcel_export/TEC/Robotics/SEMBWA8LURE_3.html



Lunar Electric Rover, LER, 2009, from NASA on YouTube   :  NASA_Completes_Desert



K Rover from NASA, 2012.      https://ti.arc.nasa.gov/




Stair climbing devices on YouTube. These devices are not really off-road.         http://www.youtube.com/watch?v=VYYxM8UQaXU                  http://www.youtube.com/watch?v=3qWYAOGZVM4



Genbu Fire Fighting Multi Wheeled Robot, of Shigeo Hirose, 1995.

When the twin towers of the World Trade Center were destroyed on September 11, 2001, robotics expert Robin Murphy and three colleagues from the University of South Florida drove eighteen hours to New York City to help search through the rubble for survivors. They brought eight different search-and-rescue robots.




Genbu multi-wheeled robot, 1995, of S. Hirose and Fukushima Robotics Lab., used to support firefighting hoses on debris.



Genbu II, of Tokyo Institute of Technology. It has elastic joints and all wheels are driven.   http://robot.watch.impress.co.jp/cda/parts/image_for_link/2416-96-15-1.html



Tri-Star IV robot, of Tokyo Institute of Technology by Shigeo Hirose, 2011. Metal sheet and canvas wheels prevent to sink in sand or surmount rocs. Speed 3,6 km/h, 3 wheels and 50 kg. It is designed for very thin sand of lunar surface. Note spokes wheels are made reality of springs. http://zhelezyaka.com/news.php?id=5325



Wheel of Shigeo Hirose, late 90s, could climb on a wall. http://www-robot.mes.titech.ac.jp/robot_e.html



Stair Climbing Robot, with a simple and automatic device : a kind of telescopic leg helps to go upstairs and is automatically retracted on flat ground.   On youtube : Stair_Climbing_Robot__   from Japan



Mule of Lockheed Martin, 2011     http://www.military



Mule at AUSA, 2008 utilizing composite materials wheels, less vulnerable.   http://defense-update.com/products/m/mule-load-carrier.htm


Mini Crusher of Carnegie Mellon University, Pittsburg, Pennsylvania. Mass 57 kg, 45 kg payload, 24 km/h, removable battery pack, used for mine mapping, surveillance.   http://www.rec.ri.cmu.edu/projects/mini_crusher/



Spinner UGCV of Team Retarius, 2003-2004. http://www.nap.edu/openbook.php?record_id=11379&page=144#p2000d4239960144001

Spinner UGV 6x6


Spinner UGCV issued from Mule of early 2000, Cargenie Mellon built larger versions : Crusher, Perceptor and Autonomous Platform Demonstrator (APD) in 2008. The Spinner could roll over and start again.


UGVC Perceptor


Crusher 6x6 robot UGV developed at Cargenie Mellon University in 2008 was issued from 6x6 Mule of Lockheed in 2006. http://www.unmanned.co.uk/ugv-gallery/ http://www.hightech-edge.com/crusher-darpa-autonomous-robot-iphone-xbox-controller/1417/

 Crusher 6x6



RHex robot marketed by Boston Dynamics was originally conceived by Universities of Michigan and California. It can swim on or under water, jump, do a back somersault, runs fast in mud, sand or rocks. The 6 legs rotate like wheels but they aren't wheels. www.rhex.web.tr/


RHex in different configurations. www.rhex.web.tr/



Nano Rover of JPL of NASA, conceived by Brian Wilcox in 1997. It had to carry transport instruments for planetary exploration with a mass less of 10 kg, length 10 cm. It could operate up and down side, flip over, lower on flat ground, lift the wheels over obstacles and could articulate to keep all wheels in contact with ground providing maximum traction even on low gravity fields.



Big Wheels, inflatable rover of JPL, 1999. Tires of B.F. Goodrich Aerospace have 1,5 m diameter to traverse well 99% of the Martian surface. http://www2.jpl.nasa.gov/adv_tech/rovers/bigwheel.htm


Axel Rover of JPL, California, 2009. http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=16



TRESSA Robot of JPL, NASA. Three robots were provided : 2 as anchor and the third, Cliffbot, could get down or up a slope of 90 ° thanks to cables. Tested in Norway. http://www-robotics.jpl.nasa.gov/facilities/facilityImages.cfm?Facility=4


Tumbleweed Inflatable Rover of JPL, 6 m diameter. "Tumbleweed" was a large, beach ball-like device that holds a central payload (replacing parachute), landing (replacing airbag) and mobility (wind-driven on surface). With a 6-meter diameter ball on Mars, speeds of about 10 m/sec could be achieved with winds of 20 m/sec ; steep hills should be easily climbed with only moderate winds. To stop, the ball was partially deflated by remote control ; its mobility was then returned by command using a built-in pump to re-inflate the Tumbleweed. Tests using this type of ball were successfully conducted in the 1960s by JPL. http://www2.jpl.nasa.gov/adv_tech/rovers/tmblweed.htm



SRR robot, 1997, JPL. They could act as Robot Work Crew or as cliff-traversal robot. http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=6


SRR2K-460 cliff-traversal robot from JPL, 2000. http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=6



8 Wheeler robot of JPL. http://www.wired.com/science/discoveries/multimedia/2007/09/gallery_nextfest1?slide=7&slideView=8


Mars rover Sojourner or Rocky IV, in 1992, soft-landed on Mars on July 4, 1997. Sojourner's wheels and suspension used a rocker-bogie system. http://www-robotics.jpl.nasa.gov/projects/projectVideo.cfm?Project=4&Video=54


Rovers, between 1964 and 2006. From L to R and downwards : SLRV proto of 1964 from GM by Greg Bekker later retrofitted, painted, renamed blue rover ; Athena Rover , 2006 ; Rocky I ; Go-For ; Blue Rover, 1997 ; Robby, 1990. From JPL.



Rocky III robot, 1992. From JPL, this autonomous robot weights 26 kg. Pict. from review 'Sciences et Vie' J., April 1992.



Markus Johansson Robot, 2006. Electric drive ten motors robot of 8 kg and 280 mm length from Finland Association for Robotics. It uses rocker suspensions.  





Robot from Thailand    http://www.rc-plus.net/board/index.php?topic=779.0


The Scarab rover, built by Carnegie Mellon University's Robotics Institute. http://www.robotliving.com/science/scarab-rover-tested-in-hawaii/ http://www.nasa.gov/centers/glenn/multimedia/imagegallery/if034_scarab_rover.html



Lunar articulated 6x6 of General Motors in 1961. See Chap : '6x6 articulated, light'.






6x6 lunar test vehicle of M. G. Bekker from GM Research Laboratory, Santa Monica, in the 60s. Flexible frame was to replace active pitch control. Pict from 'Journal of Terramachnics' in the 60s, Pergamon Press, later Elsevier.


US003235020-001 patent Vehicle with flexible frame, Bekker, 1966.



Articulated 6x6 chassis for Lunar Exploration studied in 1962 by M. G. Bekker. Many other mode of locomotion like tracks, walking, snakes, hopping began to be systematically compared to move on Moon. Pict from cover of review 'Science et Vie', Mars 1962.

I drove the first Lunar Car

Lunar Cars



Wheeled Russian Rovers. U to L and L to R : Marsokhod 6x6, Three wheeled rover, Rover Luna, 1970, XM-PC, 1976.




Spring wheels for rover : a suspension is integrated to the wheels. http://www.enlight.ru/ib/tech/vtm/index.htm



Scramble Bug, 1964, toy presented at the World Fair of New-York, part of General Motors display. Large spherical wheels 6x6 articulated model inspired by moon rovers studied by GM at Santa Barbara, Ca, is now in GM museum. http://projectswordtoys.




Nomad robot of the Carnegie Mellon University, 1997, was created for earth and planetary exploration. Tested in Atacama Desert, north Chile, on a variety of terrains, it was driven autonomously on 21 km. Similar mission took place in Arctic in 2000. Chassis was expandable and suspensions were self-leveling, avoiding rolling over on slopes. http://www.cs.cmu.edu/~lri/nav97.html




Halluc II robot, 2007, is an eight-legged semi-autonomous mobile robot, shown here at a press preview at the National Museum of Emerging Science and Innovation in Tokyo, Japan. It can run or walk with its articulated wheeled arms. http://pinktentacle.com/2007/07/halluc-ii-8-legged-robot-vehicle/



Halluc II Robot. Wheels are completely independent.



Mule of Lockheed Martin presented in 2003. It was a 6x6 thanks to in-hub electric motors. Active suspension allowed to cross obstacles twice the diameter of the wheels. Intended to carry soldier equipment.


UGCV Robot of Rod Millen and Lockheed Martin issued from Mule. They can see how to climb over obstacle thanks electric hub-engine motorized arms suspension. http://www.millenworks.com/projects/191/Unmanned_




UGCV Robot of Retarius Team, Rod Millen and Lockheed Martin issued in 2003 from Mule. The suspensions allowed crossing large obstacles. A larger version, the Crusher of 6,5 t, a 6x6 robot vehicle too, of Carnegie Mellon's, was presented in 2006. These vehicles could roll over and continue their route.



Iares robot studied since 1993 and delivered to France by VNII TRansmash, now Rover Company Ltd, of St Petersburg, in 1996, is better than prior Marsohod (LAMA), its wheels being independent. It was tested in Toulouse, at CNES, which made software. Iares is a self-leveling robot. It is intended to go on Mars in 2018. http://www.ladepeche.fr/article/2010/12/09/966476-le-robot-toulousain-va-explorer-mars.html http://lechevalier.


 IARES Robot

Below :

Iares Robot, tested in 2010 by CNES for planetary exploration.     http://www.stdaily.com/kjrb/content/2010-12/26/content_260166.htm




RXV-E Rotem Robot 6x6, 2003, South Korea, 700 kg, 1.6 m long, 6 electric motors in wheels and tilt mechanism. http://shusharmor.livejournal.com/tag/


Rocker bogie 8x8 rover from JPL of NASA.   http://www.wired.com/science/discoveries/multimedia/2007/09/gallery_nextfest1?slide=7&slideView=10     


 Robonaut R2A Robot at Kennedy Space Center to be carried by International Space Station.  http://www.flickr.com/photos/nasarobonaut/5473443001/in/set-72157626127948108/


 K10 robot of NASA and 3 universities, tested in Canada in 2010. Mass 80 kg, payload 15 kg, max speed 0,9 m/s.   http://lunarnetworks.blogspot.fr/2011/02/high-speed-lunar-navigation-for-crewed.html  and   http://www.lunarscience.nasa.gov/robots/2010/robotic-tech/k10-robot-fast-facts


Gofor rover, from JPL, 1992.                 http://www.oobject.com/cars-in-space/jpl-robotics-gofor-rover-1992/3762/


FOXBOT, 2006, from Rheinmetall Defense, radio controlled until 1000 m, for surveillance and recce missions.        http://defense-update.com/20060502_foxbot.html


 Articulated 6x6 test vehicle of Braude College, Israel.                  http://www.youtube.com/watch?v=VruQAPzUEJY


 6x6 robot of Braude College, Israel.