Whegs

'''Whegs''' (''wheel-legs or wing-legs'') are mechanisms for robot locomotion. Whegs use a strategy of locomotion that combines the simplicity of the wheel with the obstacle-clearing advantages of the foot.

Whegs were pioneered at the Biologically Inspired Robotics Laboratory at Case Western Reserve University. The development of the whegs concept has been done in collaboration with the Ritzmann lab in the Biology department at Case Western Reserve University.<ref>{{Cite web|url=http://biorobots.case.edu/projects/whegs/whegs-i/|title=Whegs™ I {{!}} Biologically Inspired Robotics|website=biorobots.case.edu|access-date=2016-09-21}}</ref> The system is inspired by and based on studies of cockroach climbing behavior.

Whegs robots were inspired by the Prolero robot, designed in 1996 at the European Space Agency, and the RHex robot, developed by a multiuniversity effort funded by the Defense Advanced Research Projects Agency.<ref>[http://biorobots.cwru.edu/projects/whegs/ Whegs Series Robots]</ref><ref>{{cite conference | first1 = R.T. | last1 = Schroer | first2 = M.J. | last2 = Boggess | first3 = R.J. | last3 = Bachmann | first4 = R.D. |last4 = Quinn | first5 = R.E. |last5 = Ritzmann | title = Comparing Cockroach and Whegs Robot Body Motions | pages = 3288–3293 | conference = IEEE International Conference on Robotics and Automation, 2004 | citeseerx = 10.1.1.84.5410 | url = https://ieeexplore.ieee.org/document/1308761 | year = 2004 }}</ref><ref>{{cite journal|last=Taubes|first=Gary|year=2000|title=Biologists and Engineers Create a New Generation of Robots That Imitate Life|journal=Science|volume=288|issue=5463|pages=80–83|doi=10.1126/science.288.5463.80|pmid=10766640|s2cid=8197203}}{{subscription required}}</ref>

Wing-legs are found on flying robots and are wings dual-purposed as legs for locomotion when the robot is on the ground.<ref name="s311">{{cite web | title=DALER project | website=École Polytechnique Fédérale de Lausanne | url=http://lis.epfl.ch/DALER | access-date=2024-11-13}}</ref>

==References== {{Reflist}}

Category:Hexapod robots Category:Robots of the United States Category:Biorobotics Category:2000s robots