In the past few years, we have covered plenty of robotic platforms for manipulation tasks. They need to have a compact base to navigate through a cluttered space while having enough room to prevent tumbling or tipping over. This video from Robotic Systems Lab covers a reconfigurable robot that changes shape to navigate through light spaces and changes to a wide stance when handling heavy objects.
This robot has a triangular configuration to perform tasks on uneven ground. More information is available here.