Whegs II - Case School of Engineering
Whegs™ II is an improvement over Whegs™ I in terms of durability and capability. In addition to a more advanced wheg design, it has a body joint that allows it to climb over taller obstacles. The goals of the Whegs™ II robot are to develop a more capable, robust platform inspired by cockroach locomotion.
Whegs - Case School of Engineering
The Whegs™ series of robots utilize a method of locomotion that combines the advantages of wheels and legs (wheel-legs), which will allow for robotic exploration of an endless array of terrains. Wheels are relatively simple, and allow a vehicle to move quickly, while legs allow robots to climb obstacles that would be too high for a wheel.
Mini Whegs - Wevolver
Mini Whegs is a series of highly mobile small robots that can run and jump. Design. Mini-Whegs robots are similar in size and weight and have two axles with two three-spoke whegs each. A single propulsion motor drives both axles.
Wheg Robotics. Robotic wheels have physical… | by Dexter
Dec 5, 2021 · Wheg design. There are many ways to build a wheg. Its main component is a single-axis rotation and some form of the claw. PROLERO managed this with a single rod; then, some complex versions...
Whegs - Wikipedia
Whegs (wheel-legs or wing-legs) are mechanisms for robot locomotion. Whegs use a strategy of locomotion that combines the simplicity of the wheel with the obstacle-clearing advantages of the foot. Whegs were pioneered at the Biologically Inspired Robotics Laboratory at Case Western Reserve University.
Cylindabot: Transformable Wheg Robot Traversing Stepped …
Aug 30, 2021 · The ability of an autonomous robot to adapt to different terrain affords the flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that can move with two large wheels, each of which can rotate out, producing three legs.
Whegs I - Case School of Engineering
Whegs™ I is a 20 inch long robot with six whegs and a single drive motor. It is capable of climbing obstacles up to one and a half times the wheg radius. This results in a lightweight robust robot capable of traversing complicated terrain.
Abstract—In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphol-ogy and wheg trajectory for a MiniRHex robot, producing 3D …
25 The Wheg design allows a wheel to transform from a round wheel to a three legged 26 structure. The term, Wheg refers to a combination of wheel and leg design which 27 is continually...
Design and Analysis of A Miniature Two-Wheg Climbing Robot …
This paper presents a two-wheg miniature climbing robot with a novel passive vertical tail component which results in robust transitioning capabilities. The design decision was derived from an indepth force analysis of the climbing robot while performing the transition.