This paper proposes a new type of transformable wheel-legged mobile robot that could be
applied on both flat and rugged terrains. It integrates stability and maneuverability of …

This work presents a dynamic posture tracking control strategy for wheel-legged systems on
uneven surfaces. Based on the kinematic model of a wheel-legged robotic system, the …

Driving energy consumption plays a major role in the navigation of mobile robots in
challenging environments, especially if they are left to operate unattended under limited on …

This article presents the design, control, and implementation of a new compliant wheel-on-
leg robot, named Complios. This robot is able to spontaneously adapt its configuration while …

Crossing surface discontinuities, such as ditches or curbs in urban environments, is a
relevant navigation issue for ground mobile robots. This paper proposes a maneuver for …

In this paper, trajectory tracking control as the pursuit of a specific target by wheel-legged
mobile robots (WLMRs) in an environment with the presence of obstacles is presented …

This letter develops a more general dynamics controllerto generate whole-body behaviors
fora quadruped-on-wheel robot. To track the quadruped centroidal motion, the wheeled …

Aiming at the complex terrains in the working scenes for rescue robots, this paper presents
the design of a rescue robot with two switchable modes between wheels and legs. Firstly …

Generic control of wheel-on-leg robots on arbitrary uneven terrains is a challenging task due
to the complexity of the robot dynamics, surface interactions, and environmental structures …

In response to the weaknesses of traditional agricultural equipment chassis with poor
environmental adaptability and inferior mobility, a novel unmanned agricultural machinery …