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Passive wheels on legged robots: a survey.

James Florin Petri¹, Gerard Lacey¹

¹Department of Electronic Engineering, Maynooth University, Maynooth, Ireland.

Frontiers in Robotics and AI

|July 2, 2026

Summary

This summary is machine-generated.

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This survey reviews unactuated wheel-legged robots, highlighting their mechanical simplicity and energy efficiency. It explores control challenges and future research directions for this dynamic locomotion technology.

Area of Science:

Robotics
Mechanical Engineering
Control Systems

Background:

Dynamic robots are increasingly used in research and consumer applications.
Legged robots offer adaptability but face energy efficiency challenges.
Wheel-legged hybrid locomotion combines the benefits of wheels and legs.

Purpose of the Study:

To comprehensively analyze the literature on unactuated (passive) wheel-legged hybrid robots.
To review alternative implementations and design techniques for these robots.
To identify critical factors for system viability and propose future research directions.

Main Methods:

Literature survey and analysis of unactuated wheel-legged robot systems.
Review of control strategies and design techniques.

Keywords:

low friction passive wheels robot skating skiing unactuated underactuated underdetermined

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Last Updated: Jul 3, 2026

Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion

Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion

Published on: February 5, 2020

Examination of challenges in controlling legged robots with passive skates.

Main Results:

Unactuated wheel-legged robots offer mechanical simplicity, low weight, and high energy efficiency.
Advances in control and computing have made passive designs more accessible.
Controlling legged robots with passive skates presents unique challenges.

Conclusions:

Unactuated wheel-legged robots are a promising area for energy-efficient dynamic locomotion.
Further research is needed to overcome control complexities and optimize design.
This technology has the potential for wider adoption in robotics.