This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps. Unlike other articles studying whegs, this implementation with omnidirectional wheels allows the correction of misalignments between right and left wheels before traversing obstacles, which effectively improves the success rate and simplifies the preparation process before the wheel-leg transformation. We describe the design concept, mechanism, and the dynamic characteristic of the wheel-leg structure. We then evaluate its performance in various scenarios, including passing obstacles, climbing steps of different heights, and turning/moving omnidirectionally. Our results confirm that this mobile platform can overcome common indoor obstacles and move flexibly on the flat ground with the new transformable wheel-leg mechanism, while keeping a high degree of stability.

翻译：本文介绍一个叫做 OmniWheg 的全方向可变轮动轮动机器人的设计、分析和性能评估。 我们设计了一个由分离的全轮和四巴连接组成的新机制,使机器人能够顺利地在全轮和腿型模式之间转换。 在轮式模式中,机器人可以在所有方向移动,并有效地调整其轮动的相对位置,同时它可以克服腿型模式中常见的障碍,如楼梯和脚步。 不同于其他研究螺旋杆的条款,这种使用全向轮的操作可以纠正右轮和左轮之间的不匹配,从而在轮动障碍之前有效地提高成功率,简化轮动转变之前的准备过程。 我们描述设计概念、机制以及轮动结构的动态特征。 然后我们评估其在各种情景中的性能,包括通过障碍、攀爬不同高度的阶梯以及统制/移动。 我们的结果证实,移动平台可以克服共同的室内障碍,在移动地面上灵活移动,同时保持新的轮动高度的稳定状态。