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Sunderland Repository records the research produced by the University of Sunderland including practice-based research and theses.

Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments

Wooley, Robert, Timmis, Jonathan and Tyrrell, A.M. (2021) Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments. Robotics, 10 (3). ISSN 2218-6581

Item Type: Article


The ability of an autonomous robot to adapt to different terrain affords the flexibility to
move successfully in a range of environments. This paper proposes the Cylindabot, a transformable
Wheg robot that can move with two large wheels, each of which can rotate out, producing three legs.
This ability to change its mode of locomotion allows for specialised performance. The Cylindabot has
been tested in simulation and on a physical robot on steps and slopes as an indication of its efficacy
in different environments. These experiments show that such robots are capable of climbing up to a
32 degree slope and a step 1.43 times their initial height. Theoretical limits are devised that match the
results, and a comparison with existing Wheg platforms is made.

robotics-10-00104-v2.pdf - Published Version
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More Information

Depositing User: Jonathan Timmis


Item ID: 13890
ISSN: 2218-6581
Official URL:

Users with ORCIDS

ORCID for Jonathan Timmis: ORCID iD

Catalogue record

Date Deposited: 02 Sep 2021 13:16
Last Modified: 25 Jan 2022 08:52


Author: Jonathan Timmis ORCID iD
Author: Robert Wooley
Author: A.M. Tyrrell

University Divisions

Faculty of Technology > School of Computer Science


Computing > Artificial Intelligence
Engineering > Mechanical Engineering

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