Hypermobile Robots – the Survey

Abstract

This article presents a survey on hypermobile robots – a group of articulated mobile robots that typically comprise of several segments with powered wheels, tracks, or legs to propel the vehicle forward. Segments are connected by 2- or 3-degree-of-freedom (DOF) joints that may or may not be powered and provide better mobility as compared with regular mobile robots. The origins are analyzed and over 14 projects are compared in order to find the best methodology of designing and developing hypermobile robots.