When problems occurred in the unstable and/or extreme terrain environment, formal field-driving robots were unable to provide any other options such as the transformation of the wheel and body structure, and so on. For such reason, this paper proposed a novel type of integrated wheel mechanism that can be operated as a conventional driving wheel mode and hybrid wheel-leg mode in order to be negotiated in an unstable terrain environment. The mechanical effect of the proposed variable wheel mechanism was analyzed considering the geometric constraint and power requirement of the actuator for the transformation. In addition, we designed and manufactured the prototype of field-driving robot, which reliably control the variable wheel shape. Finally, the effectiveness of the variable wheel mechanism was verified by preliminary experimental approach.

Abstract
1. 서 론
2. 가변 휠 메커니즘 및 로봇의 구성
    2.1 가변 휠 메커니즘
    2.2 가변 메커니즘의 역학
    2.3 제어 시스템
    2.4 가변 휠 메커니즘의 구성
    2.5 주행 메커니즘
3. 시작품 제작 및 가변 메커니즘 유효성 평가
4. 결 론
References

• 이준성(Department of Aerospace Engineering, Chonbuk National University) | Joon-Sung Lee
• 김영석(Department of Aerospace Engineering, Chonbuk National University) | Young-Seok Kim
• 김건중(Department of Aerospace Engineering, Chonbuk National University) | Kun-Jung Kim
• 유기호(Department of Aerospace Engineering, Chonbuk National University) | Kee-Ho Yu Corresponding author