This project was created in order to solve the problems in efficient terrain traversal of both wheels and legged robots. This robot works like a AMR but with a three axis leg that connects the body to each wheel. This gives the robot extra degrees of freedom for locomotion and also allows it to perform legged motion in uneven terrain and wheeled motion when on flat terrain. Aside from that, this also allows it for a wider range of motion when combined with active stabilization to provide further functionality such as simulating a 3d lidar with a 2d lidar and increasing the fiew of view of RGBD cameras.
This robot was created by using scrapped components from an old unused hoverboard in order to get its hub motors and battery. A custom enclosure for the whole thing was created using a mix of aluminium extrusions and 3d printed parts.
Sadly, the project is currently still a work in progress.
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