A Reproducible Simulation Workflow for ISO-Inspired Hybrid Wheeled-Legged Wheelchair Using URDF and PyBullet

Equitable access to the built environment requires assistive mobility devices that can be developed and assessed systematically before clinical deployment. A research platform for a hybrid, multi-leg wheelchair mechanism is introduced to advance this goal. The contribution comprises a proof-of-concept computer-aided design (CAD) model relying on international organization for standardization (ISO) standards, a corresponding unified robot description format (URDF) model suitable for physics-based simulators, and a set of standardized geometric test layouts inspired by ISO 7176-5. The mechanism is conceived to operate in rolling and leg-assisted modes so that everyday obstacles—such as curbs, stair steps, gaps, snow, sand, and uneven outdoor surfaces—can be addressed within a unified framework. The standardized layouts (including corridor width, doorway entry depth, right-angle turns, and reversing width) provide a common context for assessing maneuverability and minimum turning radii while enabling fair comparison of future controllers. Representative simulations confirm successful model import and commanded motion across intended ranges without prescribing specific control strategies. By lowering the barrier to rigorous, reproducible testing in safe virtual settings, the platform is positioned to accelerate research toward more capable mobility aids, with the potential to enhance independence, dignity, and participation for people with disabilities.