Balancing Control and Pose Optimization for wheel-legged Robots Navigating High Obstacles
Junheng Li,Junchao Ma,Quan Nguyen,Junheng Li,Junchao Ma,Quan Nguyen
This paper proposes a novel approach to controlling wheel-legged quadrupedal robots using pose optimization and force-based control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel actuation to roll over high obstacles while keeping wheel traction with the terrain. In detail, we first present linear rigid body dynamics with wheels that can...
