Wheel Leg

Wheel-leg robots, or "whegs," are a class of robots designed to seamlessly transition between wheeled and legged locomotion, offering the advantages of both modes for navigating diverse terrains. Current research focuses on developing efficient mechanisms for this transformation, often employing four-bar linkages and minimizing actuator count for cost and reliability improvements, with central pattern generators (CPGs) frequently used for gait control. This research aims to create robust and versatile robots capable of traversing challenging environments, impacting fields like search and rescue, exploration, and logistics through enhanced mobility and adaptability.