Quattroped: A Leg--Wheel Transformable Robot

@article{Chen2014QuattropedAL,
  title={Quattroped: A Leg--Wheel Transformable Robot},
  author={Shen-Chiang Chen and Ke-Jung Huang and Wei-Hsi Chen and Shuan-Yu Shen and Cheng-Hsin Li and Pei-Chun Lin},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2014},
  volume={19},
  pages={730-742}
}
This paper reports on the design, integration, and performance evaluation of a novel four-leg/four-wheel transformable mobile robot, Quattroped. In contrast to most hybrid platforms that have separate mechanisms and actuators for wheels and legs, this robot is implemented with a unique transformation mechanism that directly switches the morphology of the driving mechanism between the wheels (i.e., a full circle) and 2 degrees of freedom leg (i.e., combining two half circles as a leg), so that… CONTINUE READING

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