WaveForward: An Omnidirectional Passive Wheeled Quadruped Robot with Casters

arXiv:2606.25299v1 Announce Type: new Abstract: Wheeled-legged robots possess both agile mobility for traversing complex terrains and high efficiency, making them suitable for long-distance transportation applications. Conventional actuated wheeled robots require specialized hardware and electrical design due to the incorporation of wheel components. We propose a novel and low-cost passive wheeled legged robot equipped with standard casters on each leg to obtain omnidirectional mobility. The con...