Task uncertainty and noise---generically referred to as uncertainties in the thesis---in the design and operation of robotic mechanical systems pose a major challenge to the designer. The aim of this thesis is to contribute to the laying down of the…

RHex is a cockroach-inspired hexapod robot capable of walking, running, and climbing. This thesis presents the development of a novel, three dimensional, bipedal running gait for RHex using only two actuated degrees of freedom (DOF), one per compliant leg. To…