Lynx S10 is Deep Robotics’ small wheeled-legged robot: a quadruped whose legs end in drive wheels instead of feet, so it can roll quickly on flat ground and use its legs over obstacles. The model description lists the body at about 19 kg.
The mechanism
Each leg carries three revolute joints (hip abduction, hip, and knee) and a continuous wheel joint at the end, so four legs give sixteen actuated degrees of freedom (twelve leg joints plus four wheels), all independently driven, with no mimic joints and no closed kinematic loops. The IMU and the two LiDAR mounts are fixed links.
About this file — read before importing
This links directly to the S10 folder of Deep Robotics’
deep_robotics_model repository.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is
exactly what Deep Robotics publishes, unmodified.