Lywal: a Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions
Yongjiang Xue Xichen Yuan Yuhai Wang Yang Yang Siyu Lu Bo Zhang Juezhu Lai Jianming Wang Xuan Xiao Yongjiang Xue Xichen Yuan Yuhai Wang Yang Yang Siyu Lu Bo Zhang Juezhu Lai Jianming Wang Xuan Xiao
This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable mechanism. Second, the calculation of kinematics is analyzed in detail. Then, the switching-mode strat...