Design and analysis of a wheel-legged hybrid locomotion mechanism

Change Zheng, Jinhao Liu, Tony E. Grift, Zichao Zhang, Tao Sheng, Jiangwenjie Zhou, Yuliang Ma, Ming Yin

Research output: Contribution to journalArticlepeer-review


A wheel-legged hybrid robot was put forward. First, the mechanical design of this chassis was introduced. Second, based on the kinematic analysis, comparison between the robot with the active transition system and that with the passive transition system was made. Third, the process of overcoming three kinds of obstacles was simulated. Finally, the conclusion can be made that this hybrid locomotion mechanism with the active transition system has good performance on rough terrains.

Original languageEnglish (US)
JournalAdvances in Mechanical Engineering
Issue number11
StatePublished - Nov 2015


  • Wheel-legged hybrid robot
  • kinematic analysis
  • mechanical design
  • simulation

ASJC Scopus subject areas

  • Mechanical Engineering


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