Type Synthesis of Multi-mode Mobile Parallel Mechanism Based on Planar 4R Single-loop Kinematic Chains. - Xiangyu Liu; Chunyan Zhang; Cong Ni (CACRE, 2019)

A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control. - Xiangyu Liu; Chunyan Zhang; Cong Ni; Chenhui Lu (Ind. Robot, 2020)