## 2 Related Studies
### Locomotion
(**c**) Three-Wheeled, inspired from [19]. (**d**) Omnidirectional robot, sourced from [20]. (**e**) Ackermann Steering, inspired from [21]. (**f**) Skid Steering, Four Wheel Drive, inspired from [22]. (**g**) Synchro Drive, inspired from [23]. (**h**) Rocker-Bogie, inspired from [11]. (**i**) Articulated Pivot Steering, inspired from [24]. rocks, or boulders, and are often used in search and rescue or space exploration [32]. Rigid Metal Track ensures durability and traction on rocky or icy surfaces, utilized in military, mining, and heavy-duty industrial applications demanding extreme durability [33]. Hybrid locomotion robots mimic biological movement and are designed for environments unsuitable for wheels or tracks, like uneven terrain, stairs, or vertical surfaces. With multiple joints, they offer flexibility and adaptability to complex environments (see Figure 7). These robots combine various locomotion types, wheels, legs, and tracks, enabling them to switch movement styles based on the terrain. Hybrid systems are ideal for applications needing versatility across both flat and rugged surfaces. A snake robot is a flexible, articulated robot that mimics snake movement with multiple segments for undulating motion. It is ideal for navigating tight spaces like pipes, ducts, and disaster zones where traditional robots cannot operate [36]. Soft robots are flexible, deformable robots made from soft materials, enabling adaptation to complex environments. Using soft actuators (like pneumatic or hydraulic systems) for movement, they excel in fragile settings and unstructured terrains like underwater or narrow spaces. Their adaptability allows them to handle delicate objects and navigate confined areas [37]. [PERSON] et al. [38] developed Scorpio, a bio-inspired, reconfigurable robot with rolling, crawling, and wall-climbing abilities for urban reconnaissance. A bipedal robot mimics human walking with two legs. It is built for balance and mobility on various surfaces. Biped robots excel at human-like tasks, including service roles and exploration [39]. [PERSON] et al. [40] proposed an autonomous wheeled-legged robot system that can traverse uneven terrain efficiently. [PERSON] et al. [41] researched on Quadruped robots, a modular, robust quadruped robot designed for harsh environments, featuring dynamic motion and terrain mapping. Figure 6: Example of Track Drive-type locomotion. (**a**) Single Continuous Track, inspired by [25]. (**b**) Dual Track, inspired by [26]. (**c**) Articulated Track, inspired by [27]. (**d**) Triangular Track, inspired by [28]. (**e**) Hybrid track robot, sourced from [29; 30]. (**f**) Flexible Belt Track, sourced from [34]. (**g**) Flipper Track, inspired by [32]. (**h**) Rigid Metal Track, sourced from [35]. A comprehensive robot locomotion system, well-suited for various terrain types, is summarized in Table 1. Overall, these robots inspired the dataset preparation, where wheeled, tracked, legged, and hybrid locomotion systems each serve distinct purposes and applications. Wheeled robots offer speed and efficiency on flat surfaces, tracked robots excel in rough terrains, legged robots provide flexibility in complex environments, and hybrid systems combine multiple locomotion types for versatile performance across various tasks.