Tracked Locomotion Systems for Ground Mobile Robots: A Review

The paper discusses the state-of-the-art of locomotion systems for ground mobile robots comprising tracks. Tracked locomotion, due to large contact surface with ground, is particularly suitable tackling soft, yielding, and irregular terrains, but characterized by lower speed energy efficiency than wheeled obstacle-climbing capability legged locomotion. Therefore, in recent years academic industrial researchers have designed a wide variety hybrid solutions, combining tracks legs wheels. proposes three possible parallel taxonomies, based on body architecture, track profile, type, help designers select most architecture basis operative necessities. Moreover, modeling, simulation, design methodologies tracked are recalled.