Researchers from KIMLAB at the University of Illinois have developed Ringbot, a monocycle robot with a ring-shaped wheel and two legs. In other words, it’s essentially a leg-wheel transformer robot that incorporates a monocycle mechanism with legs.
The team hopes that Ringbot will be able to provide versatile mobility by replacing the driver and driving components of a conventional monocycle vehicle with legs mounted on compact driving modules inside the wheel. Featuring a wheel and two driving modules located inside the body, each equipped with a 3-DoF leg for balancing, steering, as wekk as legged motions to assist monocycle driving.
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The driving control is achieved through decoupled speed controller and steering controller. The controllers for wheeled driving and legged motions were tested in a simulation environment, as well as on the hardware prototype, to verify the concept of a monocycle with legs and evaluate the prototype’s capabilities,” said the researchers.
