Inspired by the abilities of amoeba to alter their shape, a continuous-track robot called Ourobot has been developed that is able to adapt its shape to the environment. Using tactile sensors at the outer hull of the robot, the outline of the terrain and collisions with obstacles can be detected. Thus, the robot is able to locomote in uneven terrain and climb steep slopes. Since the shape adaption is based on run-time optimization, the quality function can be easily expanded to consider additional side conditions. The functionality of the proposed approach is demonstrated both in simulation and hardware.

中文翻译：

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Ourobot-用于在崎terrain地形中进行形状自适应滚动的感应式封闭运动链机器人

受变形虫改变形状的能力启发，开发了一种称为O urobot的连续跟踪机器人，该机器人能够使其形状适应环境。使用机器人外壳上的触觉传感器，可以检测地形轮廓和与障碍物的碰撞。因此，机器人能够在不平坦的地形上行驶并爬上陡峭的斜坡。由于形状调整基于运行时优化，因此可以轻松扩展质量函数以考虑其他附加条件。仿真和硬件都演示了该方法的功能。