# Whegs

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{{Refimprove|date=May 2010}}

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

Whegs were pioneered at the Biologically Inspired Robotics Laboratory at [Case Western Reserve University](/source/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](/source/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](/source/cockroach) climbing behavior.

Whegs robots were inspired by the Prolero robot, designed in 1996 at [the European Space Agency](/source/European_Space_Agency), and the [RHex](/source/rhex) robot, developed by a multiuniversity effort funded by the [Defense Advanced Research Projects Agency](/source/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](/source/Wing) 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}}

{{Hexapod robots}}

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

{{robot-stub}}

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