Towards high mobility and adaptive mode transitions: Transformable wheel-biped humanoid locomotion strategy.

Wheel-biped humanoid robots offer a promising solution that combines the bipedal locomotion and manipulation capabilities of humanoids with the mobility advantages of wheeled robots. However, achieving high mobility and adaptive wheel-foot transitions while maintaining essential bipedal functionality in a transformable wheel-biped configuration (TWBC) presents a significant challenge. To address this, this paper proposes a transformable wheel-humanoid framework (TWHF), which enhances traditional humanoid robots by incorporating a compact, decoupled wheeled subsystem.