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To minimize the number of actuators, the transformation process of the wheel is designed to be triggered passively when in contact with the obstacles. A new triggering mechanism is employed to eliminate the adverse effect of the robot\u2019s weight on the transformation torque. The parameters of the wheel are optimized to maximize the climbing ability in low-friction conditions. The robot\u2019s body length and angular velocity are also tuned based on the dynamic model during the obstacle climbing process. The simulation experiment results show that the robot can switch modes stably on terrain with a friction coefficient as low as 0.2, and can climb over an obstacle 3.9 times as tall as its wheel radius.<\/jats:p>","DOI":"10.3390\/sym15040800","type":"journal-article","created":{"date-parts":[[2023,3,27]],"date-time":"2023-03-27T04:05:40Z","timestamp":1679889940000},"page":"800","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Design and Analysis of a Wheel\u2212Leg Hybrid Robot with Passive Transformable Wheels"],"prefix":"10.3390","volume":"15","author":[{"given":"Yusheng","family":"Shi","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minglu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Manhong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaojun","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,25]]},"reference":[{"key":"ref_1","first-page":"13","article-title":"Research status and development trend of intelligent emergency rescue equipment","volume":"11","author":"Dong","year":"2020","journal-title":"J. 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