TurboQuad: A Novel Leg–Wheel Transformable Robot With Smooth and Fast Behavioral Transitions

@article{Chen2017TurboQuadAN,
  title={TurboQuad: A Novel Leg–Wheel Transformable Robot With Smooth and Fast Behavioral Transitions},
  author={Wei-Hsi Chen and Hung-Sheng Lin and Yun-Meng Lin and Pei-Chun Lin},
  journal={IEEE Transactions on Robotics},
  year={2017},
  volume={33},
  pages={1025-1040}
}
This report is on the design, control strategy, implementation, and performance evaluation of a novel leg–wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legged walking while in motion. This functionality was achieved by including two novel setups in the robot that were not included in its predecessor, Quattroped. First, a new leg–wheel mechanism was used, in which the leg/wheel operation and… CONTINUE READING

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