Overview of structure and drive for wheel-legged robots

Wheel-legged robots are a type of mobile robot that combines the advantages of wheeled robots, such as fast and stable movement and high efficiency, with the adaptability of legged robots to complex and unstructured environments. Therefore, wheel-legged robots have great potential for application in fields such as deep space exploration, disaster relief, and wilderness exploration. This paper categorizes and summarizes the structural forms and driving modes of wheel-legged robots, dividing them into three categories: wheel-legged hybrid robots, wheel-legged separation robots, and wheel-legged transformation robots based on their structural characteristics. Finally, this paper summarizes the structure and driving aspects of wheel-legged robots and provides an outlook on their development in these two areas. The research results presented in this paper help researchers understand the development process of wheel-legged robots and serve as a valuable reference for future research.