Here is a clever robot that has omni-wheeled and legged modes. It can move in all directions in wheeled mode while in legged mode, it can overcome steps. The OmniWheg has a omni-wheel and 4-bar linkages that enable it to transform between modes. The below video shows this robot in action:
More like this ➡️ here
OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
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