## 4 Design of Locomotion System of the Decontamination Robot
### Response from the Algorithm  
The proposed algorithm for locomotion recommendation generates the output depicted in Figure 10. This output is derived after analyzing the user's prompts in conjunction with the dataset. The score matrix visualization presented in Figure 10 explains the compatibility of seven locomotion types across eighteen terrain types. Each cell is annotated to indicate whether the locomotion was successful (\(\bigvee\)) or failed due to one or more constraints, including insufficient friction (\(\upmu\)), payload overload (P), excessive surface roughness (R), or slope limitations (S). The scoring matrix was generated based on heuristic matching and expert knowledge from the compiled robot dataset. While no traditional validation dataset was used, the complete dataset is provided as a Supplementary File to facilitate reproducibility and further validation by future studies. In the desired environment, tracked robots exhibited the most suitability, demonstrating compatibility across nearly all surface  
Figure 9: Test environment for operating the proposed decontamination robot.  
types, which encompass rugged and sloped areas. A leg wheel combination mechanism also yielded favorable results; however, it encountered failures on stairs and extremely rough surfaces due to challenges associated with roughness and slope constraints. Wheeled robots performed well on polished and indoor surfaces but struggled on uneven terrain due to slope and roughness. Conversely, dynamic legged, snake, and hopper robots were disqualified on almost all surfaces, primarily due to payload limits and slope instability, culminating in a compatibility score of zero.  
Each locomotion type was assigned a cumulative score based on weighted terrain compatibility. Tracked robots scored highest (15.1) and wheeled robots (10.7), confirming tracked mobility as the most robust base for decontamination across complex indoor-outdoor transitions.  
Figure 11 illustrates a threshold-colored bar chart that compares various track types to enhance the design decision-making process. The Dual Track configuration achieved better performance than all other configurations, with a score of 8.0, while the flexible, hybrid, and articulated tracks also demonstrated significant adaptability. These findings corroborate that a tracked base, particularly one with dual tracks, provides the most versatile and stable foundation for deploying decontamination systems in environments characterized by mixed flooring, liquid spills, and variations in terrain.  
Figure 11: Score comparison of the track-type recommender based on the user’s inputs.  
Figure 10: The locomotion suitability score matrix displays terrain-wise compatibility scores for various locomotion types. The blue-colored box represents that the particular locomotion type passed the user’s requirement, and the cream-colored block represents the failures in that aspect.  
In this section, the design process for the decontamination robot is presented, guided by a data-driven locomotion recommendation algorithm. Various test surfaces are analyzed to determine the most suitable mobility configuration. The LLM-based system evaluates locomotion compatibility and generates an annotated score matrix and score-based recommendations by employing natural language prompts that describe terrain conditions. Tracked locomotion, particularly the dual track configuration, emerges as the most suitable choice due to its high compatibility across diverse terrains. Additionally, the section explores terrain-specific constraints such as slope, roughness, and friction, thereby providing a comprehensive framework for selecting the robot's mobility architecture. This foundational design assessment directly informs the mechanical and structural decisions made during the subsequent development phase.