Smooth switching phases of a mobile robot from leg-type to wheel-type and vice versa

This paper presents smooth switching phases utilized in the mode change between leg-type and wheel-type locomotion for ascending and descending a slope. The phases are classified into three, i.e, walking, mode change, and rolling phases. In each case, we simulate the robot motion to visualize for verification. Also, we show that the balanced control between right and left side of the robot in the leg-type and wheel-type is generated in the experiment.