“On flat surfaces with no objects in their path, wheeled robots are more efficient than tracked, legged, and even aerial robots. In sand, mud, and rougher terrain, tracks are superior to wheels. However, with fixed objects, obstacles, and vertical surfaces in the path of a tracked robot with no alternative path, legged robots are superior. Even if moderate objects and obstacles can be overcome by tracks, continuous unstructured terrain over a large field of operation reduces the energy efficiency of tracked devices when compared to dynamic legged robots.”

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Maciej Konieczny

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