Design and Analysis of a Wheel−Leg Hybrid Robot with Passive Transformable Wheels

This paper proposes a novel wheel−leg hybrid robot that can be applied on both flat and rugged terrains, it utilizes two passive transformable symmetrical wheels combine the stability of circular wheel obstacle climbing ability legged wheel. To minimize number actuators, transformation process is designed to triggered passively when in contact with obstacles. A new triggering mechanism employed eliminate adverse effect robot’s weight torque. The parameters are optimized maximize low-friction conditions. body length angular velocity also tuned based dynamic model during process. simulation experiment results show switch modes stably terrain friction coefficient as low 0.2, climb over an 3.9 times tall its radius.