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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.[1]

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.[2] The mobility system is based on studies on the locomotion of the cockroach.[3][4]

Wing-legs are found on flying robots and are wings dual-purposed as legs for locomotion when the robot is on the ground.[5]


  1. ^ "Whegs™ I | Biologically Inspired Robotics". biorobots.case.edu. Retrieved 2016-09-21. 
  2. ^ Whegs Series Robots
  3. ^ "Comparing Cockroach and Whegs Robot Body Motions". CiteSeerX accessible. 
  4. ^ Taubes, Gary (2000). "Biologists and Engineers Create a New Generation of Robots That Imitate Life". Science. 288 (5463): 80–83. doi:10.1126/science.288.5463.80. Retrieved November 2011.  Check date values in: |access-date= (help)(subscription required)
  5. ^ Laboratory of Intelligent Systems DALER project