Legged millirobots, like the biological organisms that they mimic, can readily adapt to a variety of complex environments. These robots can operate in rough terrain, confined spaces, and in the presence of obstacles such as foliage. This versatility makes legged millirobots an ideal solution to tasks requiring high maneuverability in di cult and uncertain environments. Examples might include searching through wreckage in the aftermath of natural disasters, or performing inspection and maintenance tasks within the interiors of buildings and other structures. Ideally, many of these tasks would be completed either autonomously or semi-autonomously, allowing human operators to focus on higher-level organization and control. In order to operate effectively without constant human guidance, legged millirobots must be equipped with adequate sensing capabilities to characterize and respond to their surroundings.
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