Remember the ALPHRED2: it is an autonomous legged helper robot that can walk, hop, and roll. The robot can use its limbs to pick up objects or push buttons. It can walk stably on rough terrain at speed up to 1.5m/s. The latest video by Dennis Hong shows the robot on caster. It can use its limbs to roll on the floor smoothly.
As the above video shows, the robot can now use its legs to simply glide on the floor and change direction efficiently.