Abstract : This paper summarizes and classifies domestic and foreign mobile robots from the perspective of topological structure, and gives their respective characteristics from the perspectives of the conceptual design and specific implementation of the wheels, body balancing mechanism, rocker arm mechanism and steering mechanism of robots used in sandy terrain. It also summarizes the development trend of the main mechanisms of mobile robots and the closely related ground mechanics. Keywords : Mobile robot; Configuration; Rugged terrain; Adaptability; Ground mechanics 0 Introduction In today's world, robot research is receiving increasing attention, especially mobile robot technology for rugged terrain, which has become a research hotspot. Mobile robots have already demonstrated their strength in various fields such as marine, military, aerospace, service, and entertainment, and their development prospects are limitless. The following is a review of the research status and development trend of mobile robots. 1 Overview of Mobile Robot Configuration Research In a narrow sense, mobile robots refer to robots that move on the ground, such as reconnaissance robots, police bomb disposal robots, and various civilian robots for guiding, cleaning, and toy purposes. In a broader sense, mobile robots also include space robots such as the Spirit Mars rover and underwater robots. Mobile robots can be classified into the following categories based on the mechanical topology of their traverse units: A Review of the Development of Mobile Robot Configurations for Rugged Terrain (Full Text Download)