• motion and path planning
• motion control
• omnidirectional movement
• mecanum wheels
• wheel-leg
• cad design
• quadruped robot

Hybrid wheel-leg quadruped robots combine the behaviour of animals and cars, mainly the ability to move fast and climb obstacles. First, a choice of omnidirectional wheels is made, to improve the efficiency of the system. Then, design a solution to couple wheels with legs, and integrate all the transmission elements, such as the motor and the gearbox. Next, a joint control is performed with RaspBerry. The total model is decomposed into two simpler, ones when the robot moves with wheels and the others when the robot uses legs. Finally, experiments were conducted to understand the capability of the robot and investigate its limits.