Alper Yeldan

2 accepted papers

2023

Contact Based Turning Gait of a Novel Legged-Wheeled Quadruped

Alper Yeldan, Abhimanyu Arora, Gim Song Soh

ICRA 2023poster

How does a wheeled robot move and turn? The answer is straightforward for a conventional wheeled robot, but it is not so easy for a robot with a discrete wheel design. Regular wheeled robots always have four contact points, resulting in static stability during locomotion. However, QuadRunner's novel…

Cited by 1 Source ↗Scholar ↗

2022

QuadRunner: A Transformable Quasi-Wheel Quadruped

Alper Yeldan, Abhimanyu Arora, Gim Song Soh

ICRA 2022poster

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 t…

Cited by 15 Source ↗Scholar ↗