2026
Design and Modeling of a Reconfigurable Robot: Decoupled STAR (DSTAR)
RA-L 2026
This paper presents Decoupled STAR (DSTAR), a novel reconfigurable robot fitted with a sprawling mechanism that allows the wheel rotation axes to vary relative to the body, and two independently activated four-bar extension mechanisms (FBEM). These mechanisms enable the robot to move its center of m