Here is a shape changing mobile robot that can expand and collapse its wheels to adapt to challenging terrains. By using tensegrity as wheels, this robot has better shock absorbing capability. As the researchers show, a robot “with two icosahedron tensegrity wheels can reduce its width from 400 mm to 180 mm and simultaneously increase its height from 75 mm to 95 mm by changing the expanded tensegrity wheels to collapsed disk-like ones.”
This robot can overcome steps with heights up to 110mm and 150mm in expanded and collapsed configuration. This robot can jump obstacles up to 300mm.