The mobility performances of new wheeled and legged hybrid mechanisms system robot iSRo

In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.