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

Viewed

Total article views: 91 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
76 14 1 91 2 2
  • HTML: 76
  • PDF: 14
  • XML: 1
  • Total: 91
  • BibTeX: 2
  • EndNote: 2
Views and downloads (calculated since 19 Jan 2026)
Cumulative views and downloads (calculated since 19 Jan 2026)

Viewed (geographical distribution)

Total article views: 93 (including HTML, PDF, and XML) Thereof 93 with geography defined and 0 with unknown origin.
Country # Views %
  • 1
1
 
 
 
 
Latest update: 24 Jan 2026
Download
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.

Read more
Share