Abstract
A research paper was conducted in the Warthog Robotics group to gather information about robotic locomotion systems and some hybrid implementations on these designs. The purpose is to develop a new prototype to compete in the RoboCup Rescue League using the acquired data. This paper describes three fundamental locomotion systems (wheeled, tracked and legged) presenting a comparison to analyze their advantages and disadvantages. The presented hybrid and transformable locomotion systems have tracks and an actuator, such as wheels, legs or arms attached to its structure, and the capability to adjust its own tracks in different scenarios. A comparison was made regarding the needs of the competition, having systems recommended to each one of the relevant tasks in the scenarios proposed by the league.
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