A Study of Lightweight, Low-cost Quadrupedal Robot Body Based on a Coaxial Deformation Mechanism

In this paper, we present a lightweight, versatile, and low-cost quadrupedal robot ontology with two rapidly interchangeable leg types and two modes of wheels and legs. First, we developed a lightweight, low-cost quadrupedal robot ontology, and then, based on Lywal and Taichi developed by our predecessors, we modified their ontologies into interchangeable structures so that the coaxial morphing robot realizes the functions of two robots. In addition, we conducted wheel-footed and obstacle-crossing experiments to fully verify their functionality and stability. Finally, other developers can conduct exploratory research in related fields based on this robot ontology, which can shorten its research cycle and reduce the development cost.