Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism *
Yuzhen Pan,Rezwan Al Islam Khan,Chenyun Zhang,Anzheng Zhang,Huiliang Shang,Yuzhen Pan,Rezwan Al Islam Khan,Chenyun Zhang,Anzheng Zhang,Huiliang Shang
This paper presents the design and analysis of Pegasus, a quadrupedal wheeled robot grounded in biomimicry principles. Pegasus offers two distinct motion modes, including a wheeled motion and a hybrid wheeled-legged motion, enabling adaptability across various tasks and environmental conditions. The robot draws inspiration from the joint structures of quadruped animals and incorporates biomimetic ...
