Reconfigurable Design Expands What Robots Can Do

DSTAR is a reconfigurable robot that uses a sprawling mechanism and independent linkages to shift its center of mass, enabling versatile movement across rough terrain. By combining crawling, rolling, and driving gaits, it adapts to obstacles, climbs higher, and improves maneuverability—all while optimizing motor use through careful kinematic and force analysis. This platform highlights how mechanical innovation can expand what motion control systems can achieve.

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