A transformable robot with an omnidirectional wheel-leg

Researchers at Worcester Polytechnic Institute recently created OmniWheg, a robotic system that can adapt its configuration while navigating its surrounding environment, seamlessly changing from a wheeled to a legged robot. This robot, introduced in an IEEE IROS 2022 paper, pre-published on arXiv, is based on an updated version of the so-called "whegs," a series of mechanisms design to transform a robot's wheels or wings into legs.