MECHANICAL DESIGN OF A LEGGED-WHEEL HYBRID QUADRUPED ROBOT FOR MULTI-TERRAIN NAVIGATION

Abstract

The two most common modes of locomotion used by humans are legged mode and wheeled mode, the former an inherent gift while the latter being an ingenious invention on their part. While both have their advantages, they may fall short in some aspects for instance, legs may fail in terms of high speeds and wheels might prove not so handy in the more demanding and uneven terrains Thus, a leg-wheel hybrid platform promises to ensure both high speeds and good stability on a variety of terrains .