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Development of a Leg-Wheel Quadruped Robot
https://doi.org/10.17587/mau.26.588-593
Abstract
A significance of quadruped robots lies in their unique design and functionality, which allow them navigating a variety of terrains with remarkable agility and stability. Unlike popular wheeled robots, quadrupeds mimic locomotion of four-legged animals, enabling to traverse uneven surfaces, climb obstacles, and maintain balance in challenging environments. This paper introduces a development of a new leg-wheel hybrid quadruped robot. А peculiar design of the quadruped robot allows the robot to function as a bipedal robot while performing stationary tasks that do not require to change its location in space; at the same time, wheels at legs’ endpoints allow fast locomotion on a flat rigid terrain. The dual functionality enhances its versatility and broadens a range of tasks it can perform, making it suitable for various applications in research and practical applications. Design procedures, modelling methodologies, and static structural analyses performed to finalize a structure of the robot are demonstrated in the paper.
Supporting agencies: This paper has been supported by the Kazan Federal University Strategic Academic Leadership Program ("PRIORITY-2030").
About the Authors
S. Sulaiman
Kazan Federal University
Russian Federation
Russian Federation
PhD, Research Associate,
Kazan, 420008.
A. Pillai
National Institute of Technology
India
India
PhD Student,
Calicut, 673601, India.
N. Imamov
Kazan Federal University
Russian Federation
Russian Federation
Student,
Kazan, 420008.
E. Magid
Kazan Federal University
Russian Federation
Russian Federation
Magid Evgeni, PhD, Head of Department,
Kazan, 420008.
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Review
For citations:
Sulaiman S., Pillai A., Imamov N., Magid E. Development of a Leg-Wheel Quadruped Robot. Mekhatronika, Avtomatizatsiya, Upravlenie. 2025;26(11):588-593. https://doi.org/10.17587/mau.26.588-593
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