A transformable wheel-legged mobile robot: Design, analysis and experiment

This paper proposes a new type of transformable wheel-legged mobile robot that could be applied on both flat and rugged terrains. It integrates stability and maneuverability of wheeled robot and obstacle climbing capability of legged robot by means of a wheel-legged transformable mechanism. These two modes can be switched easily with two spokes touching terrain. In this paper, the motion analysis of the proposed robot under wheeled mode, legged mode and transformable mode are carried out after briefly introducing the concept and control system design. Then, the obstacle climbing strategies under wheeled and legged modes are obtained. Finally, a prototype of the proposed robot is designed and manufactured based upon the simulation analysis. And the experiment results validate the effectiveness of the proposed transformable wheel-legged mobile robot.