Has anyone ever created a Tachikoma like robot?

Has anyone ever created a Tachikoma (Video) like robot? I’m especially interested in the legs. They have a (hard rubber) wheel as foot that can be used to drive around, but also to walk around when blocked. I think that’s really useful in many different environments. And they have a ball bearing hip joint, which allows for a large range of motion. It makes them move naturally, even when standing still (keeping balance). Those joints might even work as shock absorbers while driving.

submitted by /u/zebrasecond
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