Here is a minimally actuated continuous track robot that can change shape, actuated using 2 motors. The robot can climb over obstacles and pass over objects without touching them. It can move on rocks, grass, and other challenging surfaces.
This continuous track robot was developed at the Bio-Inspired and Medical Robotics Lab at the Ben Gurion University of the Negev by Tal Kislasi and David Zarrouk. It can be used for search & rescue applications, pipe inspection, and other tasks.