Design of a hybrid wheeled-legged robot - WheeHy

Inhalt:
In this paper we describe a prototype design of a wheeled-legged hybrid robot platform named WheeHy. An important characteristic introduced within this hybrid robot design is that the robot is capable of doing in-situ reconfiguration of its posture. Another characteristic is that the robot performs adaptation of its posture to uneven terrain, which it is traversing over. Due to these characteristics, such robot design can be quite useful for building robots that operate autonomously on difficult terrain, robots which can be used for search & rescue scenarios or for reconnaissance & surveillance missions.