Tetrahedral Mobile Robots: A Systematic Literature Review

This paper presents a systematic review of the evolution and characteristics of mobile robots with a tetrahedral structure—a category of robots with high potential in fields such as space exploration, emergency response, and the inspection of hard-to-reach environments. The study is based on the examination of 27 relevant scientific articles selected from 4 international databases and aims to answer three essential research questions: what types of locomotion are used, what practical applications are targeted, and what challenges arise in the design of such systems. Following the quality assessment of the studies, a total of 20 articles were ultimately retained for the literature analysis. The analysis highlights a variety of locomotion strategies—among which rolling is the most common—as well as structural solutions tailored to specific use scenarios. Additionally, a range of technical challenges is identified, including stability control, the complexity of extension mechanisms, and sensor integration. This paper provides a clear overview of technological progress in the field and outlines useful directions for future research.