Dynamic Hybrid Locomotion and Jumping for Wheeled-Legged Quadrupeds
Mojtaba Hosseini,Diego Rodriguez,Sven Behnke,Mojtaba Hosseini,Diego Rodriguez,Sven Behnke
Hybrid wheeled-legged quadrupeds have the potential to navigate challenging terrain with agility and speed and over long distances. However, obstacles can impede their progress by requiring the robots to either slow down to step over obstacles or modify their path to circumvent the obstacles. We propose a motion optimization framework for quadruped robots that incorporates non-steerable wheels and...
