In this paper we propose a design of a class of robotic legs (known as “Ninja legs”) that
enable amphibious operation, both walking and swimming, for use on a class of hexapod
robots. Amphibious legs equip the robot with a capability to explore diverse locations in the
world encompassing both those that are on the ground as well as underwater. In this paper
we work with a hexapod robot of the Aqua vehicle family (based on a body plan first
developed by Buehler et al.[1]), which is an amphibious robot that employs legs for …