Design and Motion Simulation of a New Leg-Wheel Robot

In this paper, we design a new hybrid wheeled and footed mobile robot that can switch modes between wheeled and footed during movement, effectively combining the advantages of wheeled and footed robots. The research focuses on the structural design and control system of robots and the analysis and simulation of kinematics. The complete realization of the robot's two modes of switching, showing good movement and barrier-crossing ability in practical applications.