Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
Marko Bjelonic,Ruben Grandia,Oliver Harley,Cla Galliard,Samuel Zimmermann,Marco Hutter,Marko Bjelonic,Ruben Grandia,Oliver Harley,Cla Galliard,Samuel Zimmermann,Marco Hutter
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a wheeled quadrupedal robot. It defines the single rigid body dynamics along with the robot’s kinematics while treating the wheels as moving ground contacts. With this...
