Fig. 2.. (A) Compliant frame with four rimless wheels and actuated tendons enabling rover configuration (i) and reconfiguring (ii) to a sphere (iii) through tendon length adjustments. (B) For the tendon control sequence in (i), frames made from a single rod, a band, and our robot’s lens pattern, experience morphological reconfiguration (ii) whereby different tendon forces occur (iii). (C) Morphological configuration space showing reconfiguration regions (bending, folding, twisting), with the x and y axes representing the tendon gap indicated in A. The black line illustrates a tendon control sequence to reconfigure from state 1 (circular) to 2 (rover), 3 (reconfiguring), and 4 (sphere). (D) Time-lapse of the robot’s progression through configuration states 1 (circular), 2 (rover), 3 (reconfiguring), and 4 (sphere). Labels 1-4 correspond to the same configurations in B(Lens), C, and D.