Terrain-Adaptable Shape-Shifting Wheel

Robotic and autonomous systems often operate in environments with varying terrain conditions, ranging from smooth indoor surfaces to rough and uneven outdoor landscapes. Conventional rigid wheels perform efficiently on flat surfaces but suffer from poor traction and stability on irregular terrains. This paper presents the design and development of a terrain-adaptable shape-shifting wheel capable of dynamically altering its geometry to suit different surface conditions. The proposed system transitions between a circular configuration for smooth motion and a triangular configuration for improved traction and obstacle negotiation. A servo-actuated rack and pinion mechanism controlled by an ESP32 microcontroller enables precise shape transformation. The system also supports wireless control through Wi-Fi, allowing flexible operation. A prototype was developed and tested on multiple terrains, including smooth surfaces and uneven ground. The results demonstrate improved stability, reduced slippage, and better obstacle-handling capability compared to conventional wheels. The proposed design offers a simple, cost-effective, and scalable solution for multi-terrain robotic applications such as exploration, agriculture, and rescue operations.