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A terrain-adaptable tracked vehicle suitable for traveling over a variety of surfaces, including stairways, with features of low energy consumption, high speed, and light weight, has been designed and developed. Active terrain adaptability is performed by the variable track configuration scheme, which can be changed to suit temporary road conditions. Many requirements for the robot vehicle, such as simple track configuration control, suspension for high road grip, reduction of turning resistance force, coexistence of high climbing ability and high speed on flat surfaces, and reduced tare weight, have been achieved mechanically without disturbing variable track configuration characteristics.
Iwamoto et al. (Sat,) studied this question.