OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
Ruixiang Cao,Jun Gu,Chen Yu,Andre Rosendo,Ruixiang Cao,Jun Gu,Chen Yu,Andre Rosendo
This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative positio...
