부산대학교 도서관

This paper proposes a novel robot design based on Automated Guided Vehicle (AGV) for obstacle crossing. The robot has two parts: a transforming wheeled system and a control system. The Transforming Wheel-Legged Robot utilizes a transforming wheel mechanism to facilitate the transition between multiple gaits, allowing for better adaptation to the environment. On level terrain, the wheeled structure enables quick movement, while on complex terrain, it can transform into a wheel-legged structure, thus improving its adaptability and possessing strong crossbar-crossing and climbing capabilities. An advanced controller and co-controller are employed, along with a video imaging system and various other sensors, allowing for the remote control of the robot's movement, thereby replacing human labor in transportation and inspection.