Kydonas-an autonomous hybrid robot: walking and climbing

Kydonas is an autonomous walking robot, making use of three wheels and three legs for moving in a free navigation space. More specifically, it employs autonomous wheels to move around in an environment where the surface is smooth with no unevenness. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to efficiently travel through. Simulated results of Kydonas´ traveling for several cases are provided