Motion design of a hybrid wheeled/legged robot for lunar exploration

Xue Dong Chen, Wen Gang Tian, Xiao Qing Li, Watanabe Keigo

Research output: Contribution to journalArticlepeer-review


The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism. It can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is illustrated by simulation results.

Original languageEnglish
Pages (from-to)246-249
Number of pages4
JournalJournal of Harbin Institute of Technology (New Series)
Issue number3
Publication statusPublished - Sept 1 2003
Externally publishedYes


  • Hybrid wheeled/legged robot
  • Lunar exploration robot
  • Mobile mechanism
  • Quadruped mechanism

ASJC Scopus subject areas

  • Engineering(all)


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