A wheeled robot with a walking function is a worthy direction for the development of support platforms for robots. I wish you good luck in your further developments.
In the current wheel mode, turning is achieved using foot motion due to the lack of steering degrees of freedom. Steering without foot motion could utilize tank steering mechanisms, but this approach is not used as it imposes greater strain on the hardware.
![[RL] Quadruped Blind Slow Trot Test with Reinforcement Learning in "Pongbot-W"](http://i.ytimg.com/vi/dpOw9Mq4vho/mqdefault.jpg)
![[RL] Quadruped Blind Slow Trot Test with Reinforcement Learning in "Pongbot-W"](/img/tr.png)
![Legway Mode Transition Experiment [2023.09.11]](http://i.ytimg.com/vi/-X8aAEPCKSw/mqdefault.jpg)
A wheeled robot with a walking function is a worthy direction for the development of support platforms for robots. I wish you good luck in your further developments.
can it turn while in wheel mode? if so, does it use tank steering or ackerman?
In the current wheel mode, turning is achieved using foot motion due to the lack of steering degrees of freedom. Steering without foot motion could utilize tank steering mechanisms, but this approach is not used as it imposes greater strain on the hardware.