MUMBAI, India, July 13 -- Intellectual Property India has published a patent application (202641084138 A) filed by Easwari Engineering College; and Srm Institute Of Science And Technology, Ramapuram Campus on July 09, 2026, for A Compact Robotic Wheel-Leg Assembly With Integrated Sensor Feedback For Dynamic Balancing And Terrain Adaptive Locomotion.
Inventors include Dakshan V; Nishanthan J K; Nithesh Prasad T V S; Shripooja R; Harish C; Harish K; Dhavan B; Kishor G; Dr. Arun Joseph; and Dr. M. Madhan.
The application for the patent was published on July 10, 2026, under issue no. 28/2026.
Abstract: A Compact Robotic Wheel-Leg Assembly with Integrated Sensor Feedback for Dynamic Balancing and Terrain Adaptive Locomotion ABSTRACT OF THE INVENTION The present invention provides a compact, modular and detachable locomotion assembly for robotic platforms requiring wheel-based movement, leg-assisted support, dynamic balancing and obstacle negotiation. The assembly comprises a base panel, side panel, actuator mounting arrangement, wheel-leg actuator, leg base member, thigh link, support link, lower ground-contact wheel or foot member, and an electronic control circuit. The actuator is coupled to the leg base member, and its rotary motion is transmitted through the thigh link and support link to produce controlled swinging, stepping, balancing and terrain- adaptive motion. The base and side panels support actuator alignment, structural stability and compact assembly. The electronic control circuit includes a microcontroller, motor driver, inertial measurement sensor, magnetic angular position sensor and power regulation unit. Sensor feedback is processed to regulate wheel speed, torque and linkage actuation, thereby improving balance, accuracy, repeatability, terrain adaptability and operational reliability. Total Number of Words in Abstract:141
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