Development of a Terrain Adaptive Tracked Vehicle and Its Derivative-Dual Mode Vehicle*

A terrain adaptive tracked vehicle (or mobile robot) with variable configurations was developed with an enhanced maneuverability to travel over a variety of rough and unpredictable surfaces. The active terrain adaptability of the vehicle is achieved through a pair of flippers, i.e. track configuration-controlling mechanisms. The mechanism can change and control track’s configurations to adapt all terrains, provide the tracks with a continuously invariable spring force to tension tracks, and adjust the center of gravity of the vehicle to prevent it turning over from slopes or obstacles. This technology has been used in the development of an innovative Micro-rover for the space exploration and a series of EOD mobile robots. On the other hand, its derivative, the Dual Mode Vehicle (DMV) was invented and might be beneficial to switch intermittently between wheels and tracks without manual conversion. If the terrain is unknown or unstructured, or a security mission in an urban setting that involves flat terrain (street) and stairs, a wheeled vehicle may be unsuitable for some of tasks and a tracked vehicle may be too slow for most of tasks.