  This paper presents a novel design of a crawler robot which is capable of
transforming its chassis from an Omni crawler mode to a large-sized wheel mode
using a novel mechanism. The transformation occurs without any additional
actuators. Interestingly the robot can transform into a large diameter and
small width wheel which enhances its maneuverability like small turning radius
and fast/efficient locomotion. This paper contributes on improving the
locomotion mode of previously developed hybrid compliant omnicrawler robot
CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now display
large wheel mode which contributes to its locomotion capabilities. Mechanical
design of the robot has been explained in a detailed manner in this paper and
also the transforming experiment and torque analysis has been shown clearly
