Armadillo-inspired wheel-leg retractable module

In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one wheel-leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and the test to see the basic property of the rotational fingertip are also shown.