FUHAR: A transformable wheel-legged hybrid mobile robot

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dc.contributor.authorMertyuz, Irem
dc.contributor.authorTanyildizi, Alper K.
dc.contributor.authorTasar, Beyda
dc.contributor.authorTatar, Ahmet B.
dc.contributor.authorYakut, Oguz
dc.date.accessioned2026-08-12T17:50:32Z
dc.date.issued2020
dc.departmentFırat Üniversitesi
dc.description.abstractThis paper introduces a mobile robot with a new type of transformable wheel legs that can be used for flat and rough terrain. It integrates the stability and maneuverability of a wheeled robot and the legged robot's obstacle climbing capacity using a transformable mechanism with wheel legs. With a transformation structure based on a four-bar mechanism, these two modes can be easily changed. This paper analyzes the movements for the proposed robot in wheeled and legged mode. Dynamic modeling and design of a control system were obtained. Then, the obstacle climbing strategies under legged modes were carried out. Finally, on the basis of the simulation, a prototype of the proposed robot was designed and produced. The results from the experiments validate the efficiency of the designed hybrid mobile robot. (C) 2020 Elsevier B.V. All rights reserved.
dc.description.sponsorshipFirat University Scientific Research Projects Management Unit within the scope of the Master Thesis Project [MF-18-64]
dc.description.sponsorshipThis study was conducted as a part of the Master thesis titled ``Design and Prototype of a Mobile Robotic Land Robot'' carried out under the supervision of Assist. Prof Dr. Beyda TASAR in the Department of Mechatronics Engineering, Faculty of Engineering at Firat University. This project was supported by Firat University Scientific Research Projects Management Unit within the scope of the Master Thesis Project number MF-18-64.
dc.identifier.doi10.1016/j.robot.2020.103627
dc.identifier.issn0921-8890
dc.identifier.issn1872-793X
dc.identifier.orcid0000-0001-5848-443X
dc.identifier.orcid0000-0001-8979-0210
dc.identifier.orcid0000-0002-0986-1435
dc.identifier.orcid0000-0003-3324-5445
dc.identifier.orcid0000-0002-4689-8579
dc.identifier.scopus2-s2.0-85089805446
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.robot.2020.103627
dc.identifier.urihttps://hdl.handle.net/11508/62255
dc.identifier.volume133
dc.identifier.wosWOS:000579026500005
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherElsevier
dc.relation.ispartofRobotics and Autonomous Systems
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260511
dc.subjectMobile robot
dc.subjectTransformable wheel-legged robot
dc.subjectMotion analysis
dc.subjectObstacle avoidance
dc.subjectDynamic model
dc.titleFUHAR: A transformable wheel-legged hybrid mobile robot
dc.typeArticle

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