Cool Robot Locomotion: Transforms from Wheeled to Walking For Stairs and Rough Terrain
Posted on January 6, 2012 Comments (2)
This is a very cool engineering solution. Wheeled locomotion is very efficient on the right terrain. This transformation lets the robot switch to climb stairs and handle rough terrain very nicely. A team of mechanical engineers at National Taiwan University built this energy-efficient leg-wheel hybrid mobile robot. From their description:
Based on this observation, shifting the hip joint out of the center of the circular rim and changing the continuous rotation motion to other motion patterns implies the locomotion switches from wheeled mode to legged mode. This motivated us to design a mechanism that directly controls the relative position of the circular rim with respect to the hip joint so it can generate both wheeled and legged motions. Because the circular rim is a 2-dimensional object, the most straightforward method to achieve this goal is to add a second degree of freedom (DOF) that can adjust the relative position of the hip joint to the center of the circular rim along the radial direction. The motions of the two DOFs are also orthogonal to each other. In addition, the same set of actuation power can be efficiently used in both wheeled and legged modes.