Quattroped: A Leg--Wheel Transformable Robot

Chen, Shen-Chiang; Huang, Ke-Jung; Chen, Wei-Hsi; Shen, Shuan-Yu; Li, Cheng-Hsin; Lin, Pei-Chun

doi:10.1109/tmech.2013.2253615

Cited by 182 publications

(62 citation statements)

References 28 publications

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“…An interesting solution is provided by the hybrid platform Quattroped; this platform transforms two semicircular wheel parts into a leg. 19 Another hybrid solution with lifting 1 Figure 2. The WIPO patent WO2004108045 with a crawler and wheels.…”

Section: Introductionmentioning

confidence: 99%

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The synthesis of a segmented stair-climbing wheel

Mostýn

Krys

Kot

et al. 2018

International Journal of Advanced Robotic Systems

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The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary circular segments arranged around a shared carrier with arms to form a complete circular profile of the wheel adapted for moving on flat ground; for travelling on stairs, individual segments are rotated by an appropriate angle to touch down tangentially on the stepping surface of the stairs. The dimensions of individual segments, the centre of rotation of individual segments and the angle of their partial turn have been chosen so that the length of the arc along which the circular segment rolls is equal to the length of the stepping surface of an average stair, and, at the same time, the circular segment touches down tangentially on the stepping surface while the wheel turns around the edge of the previous segment. Using the rotation angle of the turnable segments, the wheel can be adapted to the height of non-standard stairs. The segments can be inclined in both directions for bidirectional movement of the wheel up and down the stairs. An undercarriage equipped with these wheels can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.

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Section: Introductionmentioning

confidence: 99%

“…The hybrid platform Quattroped, mentioned above in Chen et al, 19 belongs also to this group of the foldable wheels. The transformation mechanism of this wheel combines two half-circles as a leg with the two degrees of freedom in case of stair-climbing and it can combine these half-circles also as a circular wheel.…”

Section: Introductionmentioning

confidence: 99%

The synthesis of a segmented stair-climbing wheel

Mostýn

Krys

Kot

et al. 2018

International Journal of Advanced Robotic Systems

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“…For example, Kim et al [26] designed a wheel-leg hybrid robot which utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. Tadakuma et al [27] and Chen et al [28] also have studied this type of robot. Although many robots with different wheel-legged structures have been designed and the movement performances have been analyzed, the wheel-legged robots still have the disadvantages of complex structure, difficult control, large space required for wheel-legged translation, and limited movement environment.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Meng

Xue

et al. 2017

Mathematical Problems in Engineering

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A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

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“…The physical simulations exhibited that this robot could execute jump up to 80 mm. The design and performance analysis of a novel leg wheel transformable robot has been discussed in the work mentioned in [14]. Authors presented a unique transformation method that switches its morphology that enables the transformation from a driving mechanism on wheels to a walking mechanism with 2 degrees of freedom in the leg.…”

Section: Introductionmentioning

confidence: 99%

Terrain Perception in a Shape Shifting Rolling-Crawling Robot

et al. 2016

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Abstract:Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF) description method along with color information. Feature extraction is followed by Bag of Word method (BoW) and Support Vector Machine (SVM) for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete.

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Quattroped: A Leg--Wheel Transformable Robot

Cited by 182 publications

References 28 publications

The synthesis of a segmented stair-climbing wheel

The synthesis of a segmented stair-climbing wheel

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Terrain Perception in a Shape Shifting Rolling-Crawling Robot

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