The concept of wheeled-legged robot transformation

Abstract

Some exploration processes that are not possible for humans need special tools such as mobile robots. The mobile robot uses wheeled or legged robot to drive the motion. The previous research has focused on changing the shape of leg-wheel so that it is not as good as the actual model. In this study, we propose 'Karot', a mobile robot that has legs and wheels. The robot can select the type of locomotion such as using wheel or leg. The kinematics model for transforming from wheeled mode to legged mode is modelled in this study. The legged mode is activated when the legs are below the wheels. For the wheeled mode of the Karot, the forelegs will be lifted up then folded forward, while the rear legs will bend upwards. The maximum angle for transforming from legged to wheeled mode is 40°.