TY - JOUR N2 - In order for a quadruped robot to be able to move on wheels while keeping its platform in horizontal position, and to walk, the kinematic system of its limbs should be so designed that each of the wheels has at least four degrees of freedom. Consequently, the designed system will have many DOFs and many controlled drives. This paper presents a novel solution in which, thanks to a suitable limb kinematic system geometry, the number of drives for the robot travel function, i.e. travelling on an uneven surface with the robot platform kept horizontal, has been reduced by four which are used only for walking. The robot structure, the required geometry of the limb links and the driving torque characteristics are presented. Moreover, an idea of the control system is sketched. Finally, selected results of the tests carried out on the robot prototype are reported. L1 - http://www.czasopisma.pan.pl/Content/115404/PDF/AME_2009_132101.pdf L2 - http://www.czasopisma.pan.pl/Content/115404 PY - 2009 IS - No 3 DO - 10.24425/ame.2009.132101 KW - mobile robot KW - limb geometry KW - control system A1 - Gronowicz, Antoni A1 - Szrek, Jarosław PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 56 DA - 2009 T1 - Idea of a quadruped wheel-legged robot UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/115404 T2 - Archive of Mechanical Engineering ER -