An optional passive/active transformable wheel-legged mobility concept for search and rescue robots

Long Bai, Jian Guan, Xiaohong Chen, Junzhan Hou, Wenbo Duan

Abstract: Highlights •A novel transformable wheel-legged mobility concept for search and rescue robots is proposed.•Circle-wheeled and wheel-legged modes can be passively or actively transformed with minimally actuators.•Parameters optimization is conducted for transformation success rate and obstacle-negotiation capability.•Experiment results validate the effectiveness of the proposed robot.