Cylindabot:Transformable Wheg robot traversing stepped and sloped environments

The ability for an autonomous robot to adapt to different terrain affords a flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that canmove with two large wheels, each of which can rotate out producing three legs. This ability to change its mode of locomotion allows for specialised performance. The Cylindabot has been tested in simulation and on a physical robot on steps and slopes as an indication of its efficacy in different environments. These experiments show that such robots are capable of climbing up to a 32 degree slope and a step 1.43 times its initial height. Theoretical limits are devised that match the results and a comparison with existing Wheg platforms is made.