Reconfigurable multi-agent robots with mixed modes of mobility

This paper focuses on eliminating mobility constraints inherent in current robot locomotion designs, by extending the robot´s adaptability and range with mixed/multiple mobility modes. It is assumed that the robots navigates into a known and controlled environment, potentially equipped with smart structures in order to allow the free movement of the robot. The mechanical designs, kinematics analysis, and the sensor suite of the system are presented including experimental results. An approach to climbing using a modular serial-paired design and a minimal torque-based path-planning algorithm is also presented.