Leg-like wheel for mobile robot that realizes smooth movement on even and uneven surfaces

A rescue robot is required to efficiently run on uneven surfaces. However, a high performance on a rough terrain sometimes causes inefficiency in rapidly moving on even surfaces such as paved areas. To provide a mechanism that is able to be used in different terrains without changing the structure, we propose a specialized shape for 6 wheels vehicles that is able to run like a normal wheeled vehicle but able to run over a wide variety of terrains such as rugged areas without changing the shape of the wheel. The wheel has two or three circular cutouts. In a wheeled car mode, the 6 wheels are synchronized so as to form a tripod gait, in which the vehicle is supported at least three wheel points. In a rough terrain environment, the cutouts of the wheels function as claws and able to pull the vehicle up to the obstacles. Throughout the experiments by a small model of the vehicle, it is shown that the proposed wheel has these abilities, along with high efficiencies in moving on a muddy or sandy surfaces.