Design ideas and development of a reconfigurable robot OSCAR-X

Abstract In this paper the design and development of a new type of robust fault-tolerant hexapod robot named OSCAR-X is described. The introduced novel design of its legs allows the hexapod walking robot to perform on demand reconfiguration and amputation of its legs. For future adaptation of our robot we have introduced several other design ideas for reconfiguration mechanisms that will improve the reconfiguration ability of the robot. The described ideas can be also universally applied to design of various other types of future legged, wheeled or hybrid reconfigurable robots.