Kylin: A transformable track-wheel hybrid robot

Abstract

This paper presents a track-wheel hybrid robot, named Kylin, which is designed to integrate the advantages of both wheeled locomotion and tracked locomotion. To save the research and development time, the robot is built upon our tracked robot named NuBot, by integrating modular components for wheeled locomotion without changing the main body of NuBot. Kylin can run 3.7 m/s on the ground, climb up 45 degree slops and 0.5 m steps. It has been employed in UGVC 2016, and won the vice-champion.