78 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2013 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 Chaos [17] Plasma RX [48] Tracks Legs Combo ACM-R5 [5] Modular Aerial Aquatic 101 102 Complexity 103 104 iRAP PRO [30] Switchblade [68] PackBot [43] Vortex Ram [75] RHex [52] DIR-2 [22] Asquard [11] SuperBot [66] MMALV [35] Waalbot [76] AM24 Tandem ATHLETE [13] EMR [7] Highly Helicopter Helicopter [70] Galileo Viper [24] Omnitread OT 4 [41] Mobile M-TRAN III [39] Whegs II [77] Robot [28] RobuROC 6 [55] Tracked Dragon Runner [73] ResQuake [51] SWARM-BOT [67] AQUA [10] Crusher [20] Loper [33] HELIOS VII [27] Jumping Mini Whegs [31] RiSE 2.0 Leg-in-Rotor-II [32] Blimp (Spiny Toes) [53] BigDog [15] Polybot [49] Mini-Whegs [31] Fixed Wing Aircraft ckBot [18] IMPASS [29] Scorpion [57] Talon [69] Ornithopter [42] Spirit [62] Volksbot Molecule [37] Am18Seekur [60] Halluc II [26] Volksbot RT6 [74] ATV [6] TX [74] Rover 1 [46] ACM-R3 [3] Molecube [36] Nomad [40] ATRON [14] Volksbot RT4 [74] Dragon Telecubes [71] Amphibot II [8] Rocky VII [56] Runner [23] Summit [65] ACM-R4 [4] MAKRO 1.1 [34] PAW [44] PETMAN [45] DASH [21] CAESAR [16] MT1 [38] Scout II [58] Ant-Inspired [9] Pioneer 3-AT [47] Volksbot RT3 [74] Conro [19] Asimo [12] Spinybot II [61] RiSE 3 (claws) [54] Stickybot III [64] SRI [63] GMD-Snake 2 [25] Screenbot [59] Polypod [50] 3DCLIMBER [1] Toddler [72] ACM-III [2] Quadrotor Wheels Figure 4. Versatility versus complexity for all of the studied mobile robots. Versatility