3D kinematic modeling of a self-reconfigurable wheeled mobile robot for enhancing multimode motion capability

Liang Ding, Huanan Qi, Xinyu Li, Shu Li, Qiannan Cheng, Huaiguang Yang, Haibo Gao, Zdravko Terze, Zongquan Deng, State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Department of Aerospace Science and Technology, Politecnico di Milano, School of Electrical Engineering, Liaoning University of Technology, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb

The International Journal of Robotics Research

Published online on June 26, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Self-reconfigurable wheeled mobile robots (SRWMRs) are capable of achieving multiple motion modes and subsequent switching between them through the coordinated sequential movements of multiple rocker–bogie joints, leading to overcoming dynamic obstacles ...