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Foldable Soft Leg-Assisted Wheel Robot.

Seunghoon Yoo1, Sohyun Kim1, Joohyeon Kang2

  • 1School of Electrical Engineering, Korea University, 145 Anam-ro, Seoul, 02841, South Korea.

Advanced Science (Weinheim, Baden-Wurttemberg, Germany)
|October 6, 2025
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Summary
This summary is machine-generated.

Researchers developed a novel foldable soft leg for wheel mobile robots. This innovation enhances terrain adaptability and functionality for hybrid robots navigating diverse environments.

Keywords:
folding mechanismleg‐wheel robotsoft robotic leg

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Area of Science:

  • Robotics
  • Mechanical Engineering

Background:

  • Mobile robot locomotion is constrained by specific mechanisms.
  • Hybrid robots combining wheels and legs offer improved terrain traversal but face complexity challenges.
  • Existing hybrid systems have limited adaptability to diverse and harsh terrains.

Purpose of the Study:

  • To introduce a foldable soft leg system to enhance the capabilities of wheel mobile robots.
  • To develop a hybrid mobile robot integrating wheels and novel soft robotic legs.
  • To explore new hybrid locomotion mechanisms for versatile robot mobility.

Main Methods:

  • Designed a foldable soft leg utilizing foldable hinges and a motor-wire system for simple control.
  • Integrated the soft robotic legs with a wheel mobile robot platform.
  • Developed additional equipment to leverage the unique characteristics of the soft robotic leg.

Main Results:

  • The soft leg demonstrated high driving force and significant deformability.
  • The hybrid robot exhibited posture adjustment capabilities via leg expansion and contraction.
  • The novel hybrid locomotion mechanism enabled traversal of various harsh environments.
  • Enhanced robot functionality through specialized equipment utilizing soft leg characteristics.

Conclusions:

  • The proposed foldable soft leg effectively enhances the terrain adaptability of wheel mobile robots.
  • The developed hybrid robot showcases advanced mobility and posture adjustment.
  • This research offers guidelines for designing dexterous leg-wheel robots with soft robotic components.