Mobility and manipulation are often considered separately, with independent degrees of freedom (DOF) for each. However, here we show that using the legs for both walking and grasping increases the versatility of both tasks. Our robot has four DOFs: drive and lift for left and right pairs of legs. The legs use a reduced actuation Klann mechanism. The lift DOF rotates the entire trajectory of the legs, which enables gait modulation, climbing, and grasping. This demonstrates the feasibility of a novel operational concept: a robot that can approach, climb onto and securely grasp an object that can then be lifted via a load-bearing tether. Specifically, we show the kinematics to enable small robots to climb onto rectangular objects up to 67% robot height and grasp objects between 43% to 72% of the robot length. With these kinematics, a robot can be scaled for specific terrains and object sizes, with potential application in construction, search and rescue, and object retrieval.

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