We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

The flexibility of gait and trajectory planning with heavy payload are the main challenges for
legged stable walking of hexapod robots in unstructured terrain, especially in time-varying …

The community in legged robotics focuses on bio-inspired robots, although there are some
human inventions that nature could not recreate. One of the most significant examples is the …

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the
advantages of both walking and driving. The developed optimization framework tightly …

Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The
combination of legs and wheels might be a solution for any real-world application requiring …

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 …

This letter proposed a control framework to tackle the hybrid locomotion problem of wheeled-
legged robots. It comes as a hierarchical structure with three layers: hybrid foot placement …

ReachBot is a robot that uses extendable and retractable booms as limbs to move around
unpredictable environments such as martian caves. Each boom is capped by a microspine …

Multi wheeled-legged robot systems are MIMO complex systems with multi information
fusion. In this paper, a multi-sensor information fusion based wheeled-legged cooperative …