We are interested in the design and development of a new quadruped robot inspired in the biomechanics and locomotion of the chameleon, to be used for rescue applications in a long-term.

During the design process, we identify a very challenging issue related to the body balance due to the configuration of its four limbs. They are positioned such that the four contact points (each one per foot) are aligned on a straight line, in oppose to any other robot implemented so far. Thus, we require to design a sophisticated robot applying state-of-the-art and novel mechanics and control strategies.

As one solution to the balance problem, we decided to use transfer learning between an inverted pendulum like robot as the teacher and the chameleon-like robot as the learner.

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