Xichen Yuan

Lywal: a Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions

This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable me…