Multimode locomotion via superbot robots

Wei Min Shen, Maks Krivokon, Harris Chiu, Jacob Everist, Michael Rubenstein, Jagadesh Venkatesh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Scopus citations


This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both in real robots and in simulation, have shown the validity of the approach and demonstrated the movements of forward, backward, turn, sidewinder, maneuver, and travel on batteries up to 500 meters on a flat terrain. In physics-based simulation, Superbot can perform as snake, caterpillar, insect, spider, rolling track, H-walker, etc., and move 1.0 meter/second on flat terrain with less than 6W/module, and climb slopes of no less 40 degrees.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Number of pages6
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL


  • Modular robots
  • Self-reconfigurable and multifunctional robots
  • Space robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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