Whegs (original) (raw)

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. Whegs development and improvements based on cockroach climbing behavior in several robots has been done in collaboration with the Ritzmann lab in the Biology department at Case Western Reserve University on cockroach climbing behavior.