Transformer-DARwIn: A Hybrid Locomotion Humanoid Designed to Walk or Roll

Abstract

We present an innovative design solution to increase a humanoid robot's mobility with future prospects of companionship service application. Bipedal robots often exhibit unstable gaits while walking on rough terrain. Even small obstacles can yield catastrophic falls. Therefore, we have designed wheel attachments which allow a humanoid to move faster and more effectively. Moreover, such attachments do not interfere with the robot's overall mobility, and these attachments can be implemented with low costs. This paper explores the performance of a hybrid locomotion robot capable of switching from bipedal to wheeled mode. The anthropomorphic miniature humanoid, DARwIn-OP, was used for experiments and performance evaluation.