Go2-W is Unitree’s wheel-leg hybrid variant of the Go2 quadruped — the same leg structure, but each leg ends in a powered wheel instead of a foot. On rough ground or stairs it walks like a legged robot; on flat ground it drives, trading the energy cost of walking for wheeled speed and efficiency.
The mechanism
Each of the four legs carries three revolute joints (hip, thigh, calf) plus a continuous wheel joint where a standard Go2’s foot would be, for 16 degrees of freedom in total — 12 for leg posture, 4 for driving. No mimic joints or closed kinematic loops; every movable joint is an independent actuator.
About this file — read before importing
This links directly to
unitree_ros, Unitree’s own repository —
the same one this gallery’s standard Go2 entry uses, in a sibling go2w_description
package. ARMOR links directly to that repository rather than re-hosting anything, so what
you get is exactly what Unitree publishes, unmodified.