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Through tethered experiments on several robotic prototypes and system characterization of the thermomechanical properties of their driving artificial muscles, we obtained the design parameters for the MCM that enabled RoBeetle to achieve autonomous crawling. To evaluate the functionality and performance of the robot, we conducted a series of locomotion tests crawling under two different atmospheric conditions and on surfaces with different levels of roughness, climbing of inclines with different slopes, transportation of payloads, and
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