Robot designs can take many inspirations from nature, where there are many examples of
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by …

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the
high velocity and high efficiency pertaining to wheeled motion and the strong, obstacle …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

Autonomous exploration of subterranean environments remains a major challenge for
robotic systems. In response, this paper contributes a novel graph‐based subterranean …

Autonomous exploration of subterranean environments constitutes a major frontier for
robotic systems as underground settings present key challenges that can render robot …

The common approach for local navigation on challenging environments with legged robots
requires path planning, path following and locomotion, which usually requires a locomotion …

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 …

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 …

Biomimetics is the development of novel theories and technologies by emulating the models
and systems of nature. The transfer of function from biological science into engineering …

Wheeled-legged robots are an attractive solution for versatile locomotion in challenging
terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse …