Zhi-Ren Chen

Fast Wheeled Driving to Legged Leaping onto a Step in a Leg-Wheel Transformable Robot

The leg-wheel transformable robot has the advantage of smooth, fast, and power-efficient motion on flat terrain and negotiability on rough terrain. This study presents a highly dynamic maneuver of the robot to leap onto a step using its legged form from its original form of wheeled driving, taking f…