To achieve versatile, continuous motion, Jim 2 utilizes five degrees of freedom: two degrees of horizontal translation, two degrees of vertical translation, and one degree of rotation.

The robot has five independent actuation mechanisms.

The two degrees of horizontal translation allow the robot to move the body at a constant velocity while walking. The two degrees of vertical translation can be sychronized to lift the horizontal frames. The vertical actuation can also be desynchonized to tilt the upper frame, allowing the robot to climb onto obstacles about 50cm tall. The rotational joint, when used with the vertical actuators, allows the robot to adjust its orientation with respect to the world.

The robot starts to walk by lifting the top from into the air.

The body moves forward along the bottom frame. The top frame moves forward, then reverses to match speed with the bottom frame.

The top frame is placed on the ground and the bottom frame is lifted into the air.

The body moves forward along the top frame. The bottom frame moves forward, then reverses to match speed with the top frame.

The bottom frame is placed on the ground and the top frame is lifted into the air.