Abstract In order to improve the adaptability of traditional wheeled robots complex environments, a passive wheel-claw reconfigurable amphibious robot is proposed in this paper. This has strong mobility when moving on ground. scenes, if there are obstacles, it will automatically switch claw mode. By studying motion mechanism reconstruction process, kinematics model under multiple working condit...

Exploring and navigating in extreme environments, such as caves, oceans, planetary bodies, are often too hazardous for humans, such, robots possible surrogates. These met with significant locomotion challenges that require traversing a wide range of surface roughnesses topologies. Previous strategies, involving wheels or ambulatory motion, snake platforms, have success on specific surfaces but ...