Few D.O.F. Walking Robot with Outer-Wheels

This paper describes the design and prototype testing of a few D.O.F. walking robot. This new design has hybrid wheeled-legged mechanism composed of an outer frame with novel omni-directional wheels, "Omni-Balls", and inner legs that provide thrust. Compared to previous hybrid designs, this walking robot has high stability on rough terrain because the wheels are located outside of the legs. In addition, the design permits the use of simplified leg designs with only one or two actuated degrees of freedom. We present performance results from prototype tests and consider implications for enhanced designs.