Original Research Published on 02 Dec 2016 Soft-Legged Wheel-Based Robot with Terrestrial Locomotion Abilities in Soft Robotics Ali SadeghiAlessio MondiniEmanuela Del DottoreAnand Kumar MishraBarbara Mazzolai Frontiers in Robotics and AI doi 10.3389/frobt.2016.00073 12,303 views 10 citations