This article presents the development and evaluation of Ringbot, a novel leg-wheel transformer robot incorporating a monocycle mechanism with legs. Ringbot aims to provide versatile mobility by replacing the driver and driving components of a conventional monocycle vehicle with legs mounted on compact driving modules inside the wheel. The article covers the hardware and software implementation of a prototype robot. The Ringbot prototype features a wheel and two driving modules located inside, each equipped with a 3-DoF leg for balancing, steering, and legged motions to assist monocycle driving. The driving control is achieved through decoupled speed controller and steering controller. In addition, active-legged motions are implemented and managed through a finite-state machine. The controllers for wheeled driving and legged motions were tested in a simulation environment, as well as on the hardware prototype, to verify the concept of a monocycle with legs and evaluate the prototype's capabilities.

中文翻译：

---

Ringbot：有腿的单轮机器人

本文介绍了 Ringbot 的开发和评估，这是一种结合了带腿的单轮机构的新型腿轮变形机器人。Ringbot 旨在通过将传统单轮车的驾驶员和驱动部件替换为安装在车轮内紧凑驱动模块上的腿来提供多功能移动性。本文介绍了原型机器人的硬件和软件实现。Ringbot 原型机内部有一个轮子和两个驱动模块，每个模块都配备了 3-DoF 腿，用于平衡、转向和腿部运动，以辅助单轮车驾驶。驱动控制通过解耦的速度控制器和转向控制器实现。此外，主动腿部运动是通过有限状态机实现和管理的。用于轮式驾驶和腿式运动的控制器在模拟环境以及硬件原型上进行了测试，以验证带腿的单轮自行车的概念并评估原型的功能。