There was an article couple of years back (1999?) in Mechanical Engineering Magazine on excess degree of freedom robots (robots that could reconfigure themselves in situ) being used, among other things, for urban SAR.
At the time, the limits of computer power forced a hybrid design with reconfigurable modules on a fixed configuration "worm" or "spider" architecture. The current crop of 'bots are classified as "self reconfiguring modular robots".
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