# 0861 / Review of the Reconfigurable Wheel-Tracked System Title: Review on the Reconfigurable Wheel-Tracked System Authors: Jiaxuan Wang, Cheng Liu, Wei Wei, and Qingdong Yan Abstract: Reconfigurable wheel-tracked system, which enables a vehicle to have the high speed of wheels and the increased mobility of tracks, is one of the key technologies on improving the off-road performance of vehicles in extreme environment. A series of such systems has already been developed and equipped on robots and medium or heavy ground vehicles. The paper reviews the research work, prototype and application of reconfigurable wheel-tracked systems. To start with, different systems are classified according to their mechanical structures. Development and current research interests are then reviewed. Triangle track configuration is the most prevalent layout of the wheel-tracked system, so this paper highlights its structure characteristics, research contents and applications. Following the review, key technologies such as design of power transmission system, mobility validation and elastic track design are analyzed. Finally, prospective of the reconfigurable wheel-tracked locomotion system is discussed in terms of transformation principle innovation, depth of research and width of application. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://2022.istvs.org/papers/0861.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.