$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

Adaptability is a fundamental yet challenging requirement for mobile robot locomotion. This article presents $\alpha$ -WaLTR, new adaptive wheel-and-leg transformable versatile multiterrain mobility. The has four passively wheels, where each wheel consists of central gear and multiple leg segments with embedded spring suspension vibration reduction. These wheels enable the to traverse various terrains, obstacles, stairs while retaining simplicity in primary control operation principles conventional wheeled robots. chassis dimensions center gravity location were determined by multiobjective design optimization process aimed at minimizing weight maximizing robot's pitch angle obstacle climbing. Unity-based simulations guided selection variables associated wheels. Following process, -WaLTR an sensing system was developed. Experiments showed that on effectively reduced vibrations when operated legged mode verified locomotion capabilities highly consistent simulations. system-level integration demonstrated via autonomous stair detection, navigation, climbing capabilities.