One of the challenges in today’s mobile robotics is the design of high mobility and maneuverability
robots. In this work we present the design and construction of a new concept of a locomotion
system for mobile robots. It consists of a hybrid leg-wheel module that can be attached to the main
body of a robot in a similar way to a conventional wheel. The mechanical configuration of the driving
module is described, emphasizing the characteristics which make it different from other hybrid locomotion
systems. A dynamic model that simulates the movement of the module was developed to analyze
its behavior and to test different control algorithms that were subsequently implemented on the real
module. Finally, we have carried out a series of simple experiments that demonstrate the correct
operation of the module on flat ground without obstacles.
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