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This paper presents “1STAR,” which is the first robot that is driven by a single actuator but can be directly commanded to move straight or turn clockwise or counterclockwise. The legged robot relies on a novel actuation gait, which exploits the compliance disparity between alternate stance tripods, to generate rotation by continuously accelerating and decelerating the legs. The direction of turning depends on the configuration of the legs—tripod left or right—and the timing of the acceleration and deceleration. Alternating leg acceleration in successive steps allows for continuous rotation in the desired direction. The turning radius can be varied by changing the timing of the leg acceleration and deceleration without changing the cycle frequency and linear speed. A simplified kinematic motion model of a robot is presented, and a dynamic simulation is performed to analyze the behavior and optimize robot parameters. The locomotion gait is verified experimentally using our newly designed “1STAR” robot. [ABSTRACT FROM PUBLISHER]