A dynamic shape-shifting method for a transformable tracked robot

The reconfiguration is always an important issue for a transformable robot, Amoeba-II. In the shape-shifting process, the friction between the tracks and the ground generally makes it difficult for the robot to finish the transformation and it also consumes much energy. To solve the configuration problem, this paper proposes a dynamic shape-shifting approach for the transformable tracked robot, Amoeba-II. It can utilize a part of the friction to propel the shape-shifting by the reliable control of the track rotation. Based on the analysis of the dynamic model, the torque can be distributed to each motor of the robot more evenly to avoid the excessive consumption on a particular motor by adjusting the speed of the shape-shifting motion and the driving velocities of the tracks. Besides, this approach can reduce the energy consumption in the shape-shifting process. The space limitation also makes it necessary to analyze the required space during the shape-shifting process. The simulations based on the dynamic analysis show that the dynamic shape-shifting is more feasible and more impactful for the transformable robot.