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OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
A novel mechanism consisting of a separable omniwheel and 4bar linkages, allowing the robot to transform between omniwheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps.
![[Nature Communications] Snailinspired robotic swarms](https://i.ytimg.com/vi/aNw92VlH3rA/mqdefault.jpg)
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