Since mobility can be an essential requirement for the operation of many autonomous systems, robotic locomotion has been actively studied for over three decades. Most mobile robots use wheels, since they provide the simplest means for mobility. However, some terrains are inaccessible to wheeled vehicles, and wheels are undesirable for a number of applications. Biomimetic locomotion refers to the movement of robotic mechanisms in ways that are analogous to the patterns of movement found in nature. Biomimetic robotic locomotors do not rely on wheels, tracks, jets, thrusters, or propellers for their propulsion.
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