Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments

Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments

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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 Sensor Block-Offs can rotate out, producing three legs.This ability to change its mode of locomotion allows for specialised performance.

The Cylindabot has been tested in simulation and on a physical robot on steps and slopes as an indication of its efficacy in different environments.These experiments show that such robots are capable of climbing up to a 32 degree slope and a step 1.43 times their initial height.

Theoretical limits Vacuums are devised that match the results, and a comparison with existing Wheg platforms is made.