Mobility for a special configuration of a shape-shifting robot in urban terrain

The work in the complicated environment requires the robot to possess the better mobility, which is the basis that the robot can complete the task successfully and ensure itself security. To improve the adaptability in the unstructured environments, the aim is the mobility of a special d-configuration of AMOEBA-I, and the cooperative turning and cooperative negotiation of the d-configuration is presented. The capability on the turning and traversing the channel are analyzed theoretically. Also the relationship between the climb height and the location of center of gravity is discussed. The maximum climb heights respectively in the normal negotiation method and cooperative negotiation are compared theoretically. Finally, the experiment in the indoor and outdoor relic environment verifies the mobility of the d-configuration, which satisfies the requirement that the robot can perform the task in the unstructured environments.