Design of a leg-wheel hybrid mobile platform

Shuan-Yu Shen, Cheng-Hsin Li, Chih-Chung Cheng, Jau-Ching Lu, Shao-Fan Wang, Pei-Chun Lin
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We introduce the design of a leg-wheel hybrid platform Quattroped. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into 2 degree-of-freedom legs (i.e. combining two half-circles as a leg). The mechatronics, software infrastructure, and the initial experimental test of the robot are also reported.
doi:10.1109/iros.2009.5353958 dblp:conf/iros/ShenLCLWL09 fatcat:nb4ktotf4ffn7ge6luw74phwzm