Yinghan Peng

TWLHex: A Biologically Inspired Multi-Morphology Transformable Wheel-Legged Hexapod

This paper presents a novel biologically inspired transformable wheel-legged hexapod, TWLHex, which is capable of actively switching among three morphologies: leg, wheel, and spoke. The mechanical design and kinematic models for transformable mechanism (TranMech) and wheel-spoke leg mechanism (WSLeg