Abstract
With the innovation and advancement of technology, the research in the field of transformable robots have shown explosive growth and are moving towards intelligence and diversification. Transformable robots can transform their mobile mechanisms according to different terrains for obstacle surmounting, with high flexibility, strong adaptability, and scalability. Thus, transformable robots are widely used in fields such as reconnaissance, rescue, and military. In this article, the characteristics of different obstacle surmounting mechanisms of transformable robots are analysed. Based on three traditional obstacle surmounting mechanisms: wheeled, tracked, and legged, this article introduces the concepts and advantages of combined obstacle surmounting mechanisms and emerging soft and biomimetic robot obstacle surmounting mechanisms. After elaborating on the current research status and partial applications of composite transformable obstacle surmounting robots, the key technologies and difficulties in the research of obstacle surmounting mechanisms for transformable robots are summarized. In addition, this article provides prospects for the application of transformable obstacle surmounting robots in medical and agricultural fields.
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