# Design and Analysis of a Bi-directional Transformable Wheel Robot Trimode

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 18× · AI/ML

**Wikidata**: [openalex:W4200552024](https://www.wikidata.org/wiki/openalex:W4200552024)  
**Source**: https://4ort.xyz/entity/design-and-analysis-of-a-bi-directional-transformable-wheel-robot-trimode