We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

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 …

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

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 …

Robots are traditionally bound by a fixed morphology during their operational lifetime, which
is limited to adapting only their control strategies. Here we present the first quadrupedal …

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 …

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 …

Robots are notoriously difficult to design because of complex interdependencies between
their physical structure, sensory and motor layouts, and behavior. Despite this, almost every …