Wheel Transformer: A Wheel-Leg Hybrid Robot With Passive Transformable Wheels

@article{Kim2014WheelTA,
  title={Wheel Transformer: A Wheel-Leg Hybrid Robot With Passive Transformable Wheels},
  author={Yoo-Seok Kim and Gwang-Pil Jung and Haan Kim and Kyu-Jin Cho and Chong-Nam Chu},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={1487-1498}
}
We report on the design, optimization, and performance evaluation of a new wheel-leg hybrid robot. This robot utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. To minimize the complexity of the design, the transformation process of the wheel is passive, which eliminates the need for additional actuators. A new triggering mechanism is also employed to increase the transformation success rate. To maximize the climbing ability in legged-wheel… CONTINUE READING

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