IROS 20250 citations
Lywal-X: A Novel Wheel-claw Quadruped Robot
Hao Shen, Yuxuan Yang, Yiliang Wang, Xintian Zuo, Hongwei Zhu, Jianming Wang, Xuan Xiao
Abstract
This paper introduces a wheel-claw quadruped robot named Lywal-X, which is capable of omnidirectional movement as well as grasping actions. Firstly, the mechanical structure of Lywal-X is designed with a three-degree-of-freedom leg transformation mechanism and a two-degree-of-freedom wheel-claw structure. Then, movement strategies for different modes such as climbing and grasping are developed. Finally, the mobility performance of Lywal-X is analyzed, and physical experiments are conducted to verify the robot’s ability to pick up and transport target objects in both single-claw and double-claw modes.
BibTeX
@inproceedings{iros2025_lywalxanovelwhee,
title = {Lywal-X: A Novel Wheel-claw Quadruped Robot},
author = {Hao Shen and Yuxuan Yang and Yiliang Wang and Xintian Zuo and Hongwei Zhu and Jianming Wang and Xuan Xiao},
booktitle = {IROS 2025},
year = {2025}
}