A multimodal hybrid robot with transformable wheels

This paper presents a novel multimodal hybrid robot that consists of a robot chassis and four transformable wheels. Compared to most robot wheels that have a rigid round rim, the transformable wheel with a foldable rim can switch to track mode for higher efficiency locomotion on swampy terrain or leg mode for better over-obstacle capability on rugged road. In detail, the wheel rim of this robot is cut into four end-to-end arc rims to make it capable of folding or unfolding between a circular ring with a elongated ring (just like “O” and “<;∞>”) to change the contact type between transformable wheels with the ground. The detailed structure design and transformation principles between different locomotion modes are explained. The driving methods and motion strategies on various terrains of the hybrid robot are analyzed. Meanwhile, an initial experiment of the transformable wheel is conducted to verify the design.