Wheeled Medium-Sized Quadruped Robot: Design and Applications A wheeled medium-sized quadruped robot is a versatile hybrid robotic platform that combines the stability and mobility of quadrupedal legs with the efficiency of wheels. This design merges the advantages of legged and wheeled locomotion, enabling the robot to navigate diverse terrains while maintaining energy efficiency and speed. Design and Locomotion The robot features four articulated legs, each equipped with a wheel at the end. In wheeled mode, the legs retract or adjust to allow the wheels to make full contact with the ground, enabling smooth, high-speed movement on flat surfaces. When encountering rough or uneven terrain, the robot can switch to legged locomotion, using its joints to step over obstacles, climb stairs, or traverse loose gravel. The medium size (typically around 50-100 cm in length and 20-40 kg in weight) makes it agile enough for indoor and outdoor applications while maintaining sufficient payload capacity. The hybrid locomotion system is powered by electric actuators and motors, ensuring precise control over both wheel rotation and leg movement. Advanced sensors, including LiDAR, cameras, and inertial measurement units (IMUs), provide real-time environmental awareness, allowing the robot to autonomously decide the most efficient mode of movement. Applications 1. Search and Rescue – The robot can navigate disaster zones, moving swiftly on wheels in open areas and switching to legged mode in rubble or debris. 2. Delivery and Logistics – In urban environments, it can transport packages efficiently, using wheels on pavements and legs to climb curbs or stairs. 3. Industrial Inspection – Factories and construction sites benefit from its ability to move through tight spaces and uneven surfaces while carrying inspection tools. 4. Military and Security – Its adaptability makes it useful for reconnaissance in varied terrains, from urban streets to off-road environments. Advantages Over Traditional Robots - Energy Efficiency – Wheels reduce power consumption on flat surfaces compared to continuous legged motion. - Versatility – The ability to switch between modes allows operation in environments where purely wheeled or legged robots would fail. - Stability – Four legs provide a stable base, reducing the risk of tipping over when navigating obstacles. Future Developments Future iterations may incorporate AI-driven gait optimization, improved battery life, and enhanced modularity for different payloads. As robotics advances, wheeled quadrupeds could become a standard solution for dynamic real-world applications. In summary, this hybrid robot represents a significant step forward in mobile robotics, combining the best of both legged and wheeled systems to tackle complex challenges across multiple industries.