WHEG - wheel leg
Faculty of Mechanical Engineering
Department of Mechatronics
A wheel leg, or wheg, combines the positive features of a wheel and a leg, resulting in good passing ability of the device on different terrains, including stairs and steps. On a smooth terrain the device operates as a normal wheel. When the terrain becomes uneven it is possible to extend the metatarsal segments of the wheg with a special mechanism, significantly improving the weg’s passing ability compared to a normal wheel. Whegs can be used in mobile robots, including bomb disposal, intelligence and rescue robots, military applications and observation robots.