Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 17, issue 1
Articles | Volume 17, issue 1
https://doi.org/10.5194/ms-17-1-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-1-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 17, issue 1
Research article
 | 
19 Jan 2026
Research article |  | 19 Jan 2026

Design and motion planning of a compact direct-drive leg-wheel robot: DTransleg

Zhong Wei, Jinlin Guo, Jiwen Zhang, Jinyao Ren, Yang Yang, Sheng Xiang, Weixi Wang, Jia Liu, and Aiguo Song

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Short summary

We created a robot called DTransleg that can walk on legs or roll on wheels using a simple, transformable design. Its upper leg doubles as a wheel rim, allowing smooth switching between walking and rolling. Tests with simulations and a real prototype show stable motion and easy transitions, paving the way for robots that adapt to different environments.

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