QuadRunner: A Transformable Quasi-Wheel Quadruped
Alper Yeldan,Abhimanyu Arora,Gim Song Soh,Alper Yeldan,Abhimanyu Arora,Gim Song Soh
This paper presents QuadRunner, a transformable quasi-wheel legged robot that achieves both quadruped locomotion and wheel locomotion by exploiting a novel semicircular leg-wheel design with a Trotting Wheel gait. We built upon the Stanford Doggo open architecture platform and integrated it with a transformable leg-wheel design to enhance its locomotion capabilities. On its gait control, improveme...
