  Robots "in-the-wild" encounter and must traverse widely varying terrain,
ranging from solid ground to granular materials like sand to full liquids.
Numerous approaches exist, including wheeled and legged robots, each excelling
in specific domains. Screw-based locomotion is a promising approach for
multi-domain mobility, leveraged in exploratory robotic designs, including
amphibious vehicles and snake robotics. However, unlike other forms of
locomotion, there is a limited exploration of the models, parameter effects,
and efficiency for multi-terrain Archimedes screw locomotion. In this work, we
present work towards this missing component in understanding screw-based
locomotion: comprehensive experimental results and performance analysis across
different media. We designed a mobile test bed for indoor and outdoor
experimentation to collect this data. Beyond quantitatively showing the
multi-domain mobility of screw-based locomotion, we envision future researchers
and engineers using the presented results to design effective screw-based
locomotion systems.
