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Related Experiment Video

Updated: May 5, 2026

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

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Published on: December 19, 2016

A centipede-inspired robot with passive terrain adaptation: optimized design and performance analysis.

Tan Zhang¹, Chengjun Ding², Dong Wang³

¹School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300000, China.

Scientific Reports

|May 14, 2025

Summary

A novel centipede-style robot with passive deformation wheels and flexible articulation enhances mobility on rough terrain. Its design allows for adaptive obstacle negotiation, improving passability and flexibility in complex environments.

Keywords:

Biomimicry Flexible articulation Mobile robot Obstacle crossing analysis Optimised design Transformer wheel

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Last Updated: May 5, 2026

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Area of Science:

Robotics
Mechanical Engineering

Background:

Mobile robots struggle with passability and motion flexibility on unstructured terrains.
Existing designs often lack adaptability to complex and variable obstacle environments.

Purpose of the Study:

To develop a centipede-style multi-drive module articulated mobile robot with enhanced passability and motion flexibility.
To improve the robot's ability to passively adapt to complex and variable obstacle terrains.

Main Methods:

Development of a robot combining passive deformation wheels with flexible articulation devices.
Optimization of passive deformation wheels and establishment of a mechanical model for obstacle-crossing capability.
Analysis of the robot's passability across different terrains through experimentation.

Main Results:

The developed robot demonstrates a rational structural design.
Experimental results confirm excellent obstacle-crossing performance.
The robot exhibits high motion flexibility and passive adaptation to complex terrains.

Conclusions:

The centipede-style articulated mobile robot effectively enhances passability and motion flexibility on unstructured terrain.
The integration of passive deformation wheels and flexible articulation allows for adaptive navigation.
The robot's design is validated by its superior performance in obstacle-crossing and adaptability.