The robot consists of 6 C shapped wheels. 3 both sides. The front and rear wheel on one side (say left side) of the robot rotate with 180 degree lag with the centre wheel of that side and vice versa for the other side. In such a locomotion the robot gets balanced with three wheels at any given point of time. For more technical information visit : http://www.gtresearchnews.gatech.edu/terradynamics-predict-how-legged-robots-move/
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