Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3
Yue Lin Yujia Tian Yongjiang Xue Shujun Han Huaiyu Zhang Wenxin Lai Xuan Xiao Yue Lin Yujia Tian Yongjiang Xue Shujun Han Huaiyu Zhang Wenxin Lai Xuan Xiao
This paper presents a transformable RHex-inspired robot, RHex-T3, with high energy efficiency, excellent flexibility and versatility. By using the innovative 2-DoF transformable structure, RHex-T3 inherits most of RHex’s mobility, and can also switch to other 4 modes for handling various missions. The wheel-mode improves the efficiency of RHex-T3, and the leg-mode helps to generate a smooth locomo...