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Taiwanese Robot has Wheels that Transform Into Legs:

Perhaps most amazing are the variety of sensors onboard the walking wonder. According to the case study, some of the sensors include “a 6-axis inertial measurement unit (IMU) and a 2-axis inclinometer for body state measurement; and three infrared (IR) distance sensors to measure ground clearance. “Various sensors, such as GPS, vision, and laser ranger, are also used to improve the robot’s perception ability.”

There are also eight motors for driving the robot, six servos for the leg-wheels, and four motors for switching between legs and wheels. Pei-Chun Lin, Shen-Chiang Chen, Ke Jung Huang, Shuan-Yu Shen, and Cheng-Hsin Li created Quattroped. They don’t have a specific purpose for the robot in mind, but hope the elaborate machine will inspire future mobile-robot development “where size, weight, and performance are important factors.” Future versions are already in the works with additional sensors for improved perception and better leg movement.

(via Wheels. Legs. This robot has both | Crave - CNET)