Design of a phase-shifting double-wheg-module for quadruped robots

Following mechatronic design methodology this paper introduces a phase-shifting double- wheg-module which forms an alternative approach for wheg-driven robots. During construction focus was placed on a smooth locomotion of the wheg-mechanism over flat terrain (low alternation of the CoM in vertical y-direction) as well as the ability to overcome obstacles. Simulations using the multi-body simulation tool ADAMS View ® were executed in order to prove estimations done. Using the results of simulation and calculation a first prototype was designed, manufactured and tested by experiment.