The highly maneuverable water-rescue robot vehicle we propose has variably configured segmented wheels (VCSW) that propel it over rough or muddy terrain, on water, or even underwater. The VCSW consist of six segments, a hub and spokes, and a drive wheel. The ends of segments are supported by the drive wheel and are pushed and towed by the spokes and eccentric hub based on wheel rotation. The direction and maximum deployment of segments are controlled by an eccentric vector of the hub, which is controlled by the combination of rotational angles of duplicate eccentric shafts. This motion catches on a slippery surface, e.g., a wet road, and produces a strong thrust on and under water. Under water, the vehicle must control forward and reverse speed, direction, depth, and inclination. The newly designed semiautomatic control automatically controls depth and inclination via the feedback of pressure and inclination information, and speed and direction are controlled manually by joysticks. Data required for control is acquired, calculated, and converted by a computer to rotation speed and eccentric vectors for each VCSW.

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