Wei-Hsi Chen

TL;DR: In this article, a novel four-leg/four-wheel transformable mobile robot, Quattroped, is implemented with a unique transformation mechanism that directly switches the morphology of the driving mechanism between the wheels and 2 degrees of freedom leg (i.e., a full circle) so that the same system of actuation power can be efficiently utilized in both wheel and legged modes.

TL;DR: This report is on the design, control strategy, implementation, and performance evaluation of a novel leg–wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legging walking while in motion.

TL;DR: In this paper, the authors designed and implemented a novel omnidirectional spherical robot, where instead of using wheels or flywheels, a driven ball is installed inside the spherical shell and driven by two orthogonally mounted rollers.

TL;DR: Instead of using wheels or flywheels, three omnidirectional wheels are installed inside the spherical shell and controlled independently; thus, the 3-degree-of-freedom planar omnid Directional mobility of the robot without any singularity condition can be achieved by simple forward 3-to-3 kinematic mapping.

TL;DR: The ability of the robot to negotiate the terrain strongly depends on its morphology and control strategy, and designing a good robotic platform which can operated on all three categories may be a good solution.