Abstract This paper introduces a mobile robot with a new type of transformable wheel legs that can be used for flat and rough terrain. It integrates the stability and maneuverability of a wheeled robot and the legged robot’s obstacle climbing capacity using a transformable mechanism with wheel legs. With a transformation structure based on a four-bar mechanism, these two modes can be easily changed. This paper analyzes the movements for the proposed robot in wheeled and legged mode. Dynamic modeling and design of a control system were obtained. Then, the obstacle climbing strategies under legged modes were carried out. Finally, on the basis of the simulation, a prototype of the proposed robot was designed and produced. The results from the experiments validate the efficiency of the designed hybrid mobile robot.

中文翻译：

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FUHAR：一种可变形的轮腿混合移动机器人

摘要 本文介绍了一种具有新型可变形轮腿的移动机器人，可用于平坦和崎岖的地形。它使用带轮腿的可变形机构，将轮式机器人的稳定性和机动性与腿式机器人的越障能力相结合。采用基于四杆机构的转换结构，可以轻松更改这两种模式。本文分析了所提出的机器人在轮式和腿式模式下的运动。获得了控制系统的动态建模和设计。然后，进行了腿模式下的越障策略。最后，在仿真的基础上，设计并制作了所提出的机器人原型。实验结果验证了设计的混合移动机器人的效率。