Whole Body Motion Control for Wheeled Quadrupedal Robots

Robotic Gizmos

Remember ANYmal? It is a quadrupedal robot that can be taught many tasks and take on autonomous navigation in challenging environments. With wheels, it can combine the advantages of walking and driving to handle uneven surfaces. Researchers have come up with dynamic locomotion strategies for such robots to handle flat and inclined terrains.

The framework takes into account the additional degrees of freedom due to the wheels. The above video shows how it works.

[Source]

The post Whole Body Motion Control for Wheeled Quadrupedal Robots appeared first on Robotic Gizmos.


Source: roboticgizmos

Leave a Reply