In this paper, we develop an analytical basis for designing the locomotion of mobile robots with a spherical or circular core and equispaced diametral legs. The mechanism has resemblance with certain cellular locomotions. Locomotion is generated by actuation of the legs in the radial direction. Two elementary regimes of motion are first developed using the geometry of the mechanism. The overall motion of the robot is generated by repeated switching between the two regimes. The paper addresses both the kinematics and dynamics of the mechanism enabling the prediction of trajectories and computation of constraint and actuation forces. Simulation results are provided in support of the theory developed.

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