  The ability to modify morphology in response to environmental changes
represents a highly advantageous feature in biological organisms, facilitating
their adaptation to diverse environmental conditions. While some robots have
the capability to modify their morphology by utilizing adaptive body parts, the
practical implementation of morphological transformations in robotic systems is
still relatively restricted. This limitation can be attributed, in part, to the
intricate nature of achieving such transformations, which necessitates the
integration of advanced materials, control systems, and design approaches. In
nature, a range of morphology adaptation strategies is employed to achieve
optimal performance and efficiency, such as those employed by crocodiles and
alligators, who adjust their body posture depending on the speed and the
surface they traverse on. Drawing inspiration from these biological examples,
this paper introduces Adjustbot, a quadruped robot with an undulating body
capable of adjusting its body posture. Its adaptive morphology allows it to
traverse a wide range of terradynamically challenging surfaces and facilitates
avoidance of collisions, navigation through narrow channels, obstacle
traversal, and incline negotiation.
