Johnson, AaronKoditschek, Daniel E2023-05-222023-05-222013-01-012013-08-06https://repository.upenn.edu/handle/20.500.14332/33862This paper introduces self-manipulation as a new formal design methodology for legged robots with varying ground interactions... This work was supported by the ARL/GDRS RCTA project under Cooperative Agreement Number W911NF-10–2−0016. For further information, visit Kod*lab.flash_audioThis material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.GRASPKodlabEngineeringArticle