A new architecture of robot with "wheels-with-legs" (WWL)

Presents a new idea: the WWL structure for VAM (very advanced machine) robot which uses the advantages of both wheels and legs. Generally, the use of wheels enables faster movement on flat and solid terrain while the use of legs brings greater flexibility on uneven surfaces. We have tried to introduce wheels with variable and controllable radius and presented ideas, suggesting how to overcome the limitations of wheel and leg based propulsion. A terrain mapping system for the VAM, based on placed sensors in front of the robot, enables locomotion over rugged natural terrain.