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I would introduce an article by Tencent’s internal laboratory RoboticsX, published on September 24, 2024. It introduced Xiaowu, The Five or Little Five, armed with innovative technology and new capacities. The biggest difference of Xiao Wu compared to previous robots is the design featuring four straight-line legs combined with wheeled feet. This design is said to adapt to various terrains while ensuring stability.
But honestly, I think it looks a bit awkward, and I hope the performance justifies this choice.