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Eccentric Crank Rover: A robot that can easily leapfrog obstacles

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The Eccentric Crank Rover

The Eccentric Crank Rover: a robot with a novel crank wheel mechanism and eccentric wheels to negotiate rough terrain. The robot climbs different obstacles and change direction in a quick way. As stated by  the developers, the center of gravity is kept constant while the rover moves on a flat surface. Scroll down for video

The crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or fragile structure.

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 Source: http://ieeexplore.ieee.org

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