Patent ID: 8316972

Claim:
A method for transitioning a reconfigurable robot over an obstacle in its path, comprising: a. providing a reconfigurable robot, said reconfigurable robot including, i. a base, having a first end, a second end, and a forward facing side, with a first rear wheel and a second rear wheel being attached to said first end of said base, ii. an arm, having a first end and a second end, with a front wheel being attached to said second end of said arm; iii. a rotating shoulder joint connecting said first end of said arm to said second end of said base, iv. a track system proximate said forward facing side of said base and attached to said base; b. providing said reconfigurable robot in a high center of mass configuration wherein said front wheel is lifted off the ground and said reconfigurable robot is balanced on said rear wheels; c. Detecting the presence of said obstacle in said path of said robot; d. applying torque to said shoulder joint in order to raise said arm to a height sufficient so that said front wheel clears the top of said obstacle; e. moving said robot forward so that said arm lies over said obstacle and said track system lies against said obstacle; and f. activating said track system to pull said body over the top of said obstacle.