**Video materials**

All video materials referenced in the text are available at: https://bit.ly/3xSfT0K.

**References**

[1] F. Rubio, F. Valero, C. Llopis-Albert, A review of mobile robots: Concepts, methods, theoretical framework, and applications, International Journal of

*DOI: http://dx.doi.org/10.5772/intechopen.97335*

*3D Printed Walking Robot Based on a Minimalist Approach*

Biped Locomotion of Humanoid Robots, International Journal of Humanoid Robotics, Vol. 13, No. 4 (2016) 1650030 (26 pages), World Scienti¯c Publishing

Company, DOI: 10.1142/ S0219843616500304.

10.3390/robotics8030078.

[9] BGH. Smith, JR. Usherwood. Minimalist analogue robot discovers animal-like walking gaits. Bioinspir Biomim. 2020 Feb 7;15(2):026004. doi: 10.1088/1748-3190/ab654e. PMID: 31869827; PMCID: PMC7655146.

[10] K. Wang, D. Marsh, R. Saputra, D. Chappell, Z. Jiang, A. Raut, B. Kon, and P. Kormushev, Design and Control of SLIDER: An Ultra-lightweight, Kneeless, Low-cost Bipedal Walking Robot,

International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS45743.2020.9341143.

[11] B. Beigzadeh, M. Sabaapour, M. Yazdi, K. Raahemifar, From a 3D Passive Biped Walker to a 3D Passivity-Based Controlled Robot, International Journal of Humanoid Robotics, Vol. 15 (2018) 1850009 (27 pages), World Scienti Publishing Company, DOI: 10.1142/S0219843618500093.

[12] E. Corral, M.J. García, C. Castejon, J. Meneses and R. Gismeros, Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot, Appl. Sci. 2020, 10(7),

2342; https://doi.org/10.3390/a

[13] D. Mrozik, T. Mikolajczyk, L. Moldovan, D. Pimenov, Unconventional Drive System of a 3D Printed Wheeled

pp10072342.

Published in: 2020 IEEE/RSJ

[8] A. Peidró, J. Gallego, L. Payá, J. Marín and O. Reinoso, Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot, Robotics, 2019, 8(3), 78; https://doi.org/

Advanced Robotic Systems. March 2019. doi:10.1177/ 1729881419839596.

10.3390/robotics9040109.

Conference on Robotics and Automation, May 2019, Montréal, France. .1109/ICRA.2019.8794348. hal-

(5):587-611. doi:10.1177/ 0278364919835606.

[5] M. Fevre, B. Goodwine, JP.

Schmiedeler. Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control. The International Journal of Robotics Research. 2019;38(10-11):1307-1323. doi:10.1177/0278364919870242.

[6] X. Luo and D. Xia, Impact Dynamics-Based Torso Control for Dynamic Walking Biped Robots, International Journal of Humanoid Robotics, Vol. 15, No. 1 (2018) 1850004 (25 pages), World Scienti¯c Publishing Company, DOI: 10.1142/S0219843618500044.

[7] G. Muscolo & C. Recchiuto, Flexible Structure and Wheeled Feet to Simplify

**109**

[4] S. Faraji, H. Razavi, AJ. Ijspeert. Bipedal walking and push recovery with a stepping strategy based on timeprojection control. The International Journal of Robotics Research. 2019;38

01875387v6.

[2] U. Jahn, D. Heß, M. Stampa, A. Sutorma, C. Röhrig, P. Schulz and C. Wolff, A Taxonomy for Mobile Robots: Types, Applications, Capabilities, Implementations, Requirements, and Challenges, Robotics 2020, 9, 109; doi:

[3] S. Caron, A. Kheddar, O. Tempier, Stair Climbing Stabilization of the HRP-4Humanoid Robot using Whole-body Admittance Control. IEEE International
