In this research, Her-robot design was optimized.

To avoid skidding in slippery environment, caterpillar

tracks are introduced over the triangular and rectangular wheels. They operate more efficiently as
compared to tires, pneumatic wheels, or split wheels. Caterpillar tracks provide superior traction and
mobility over varied terrain [34].

The design of the hybrid robot also features a unique triangular front wheel, which distinguishes it from
other sophisticated all-terrain robots that employ legged-walking or legged wheel mechanisms. The
utilization of a triangular wheel provides the hybrid robot with an expanded ground contact area,
thereby enhancing the ability to navigate challenging terrain characterized by slipperiness and rockiness.
The incenter-assisted free rotation of a triangular wheel facilitates obstacle climbing for a robot.
Moreover, from the experimental results as illustrated in Fig.6 it is observed thar HER robot is capable of
effortlessly overcoming obstacles up to a maximum height of 150 mm. However, some recently
developed legged robot designs can climb up to 260 mm obstacle height, but they have limitations while
considering uneven or stony terrains [1], [2]. For instance, a transformable wheel-legged robot (FUHAR)
design proposed in very recently energy loss, vibrations in robot while climbing gravel stairs [4].

The robot’s stability is largely dependent on its center of gravity. The rectangular rear wheel system has
been incorporated into the robot’s design to maintain the center of gravity at the robot’s center,
ensuring its stability in such environments. The self-balancing steps of HER robot illustrated in Fig. 5,
before climbing second stair robot shift its center of gravity from back wheels to middle as the additional
stepper motor in chassis uplift the rare rectangular wheels. Further, while testing robot on complex
terrain a sudden peak up to 80 mm after 5 seconds was observed in Fig. 12 representing displacement of
CG (center of gravity) due to unevenness of surface. Additionally, it accelerates the center of gravity in y
axis of robot as depicted in Fig. 13. This supports the results from previous research [3].

The robot wheel has maximum speed of 25 km/s however, speed could be adjusted with the controllers
based on duty cycle of PWM supply. Likewise, to move the robot to the right or left, the speeds of the
motors connected to the right and left wheels of the robot were increased and decreased accordingly. To
move the robot towards the right, the duty cycle of right wheel is dropped to zero while left wheel duty
cycles are kept constant as did in [4]. Increasing the duty cycle will enhance the torque in machine as
depicted in Fig. 10. However, it will significantly increase the harmonics in voltage supply resulting in
more losses in machine, but this study is not focused on current research.

[1] Yu She, C. J. Hurd, and H.-J. Su, “A transformable wheel robot with a passive leg,” 2015 IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS), 2015.

[2] J.-J. Chou and L.-S. Yang, “Innovative Design of a claw-wheel transformable robot,” 2013 IEEE
International Conference on Robotics and Automation, 2013. doi:10.1109/icra.2013.6630744

[3] Y. Tao et al., “Analysis of motion characteristics and stability of mobile robot based on A
transformable wheel mechanism,” Applied Sciences, vol. 12, no. 23, p. 12348, 2022.

[4] İ. Mertyüz, A. K. Tanyıldızı, B. Taşar, A. B. Tatar, and O. Yakut, “Fuhar: A transformable wheel-legged
hybrid mobile robot,” Robotics and Autonomous Systems, vol. 133, p. 103627, 2020.