2022
Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots
ICRA 2022poster
Tracks, wheels, and legs are all useful locomotion modes for Unmanned Ground Vehicles (UGVs), and ground robots that combine these mechanisms have the potential to climb over large obstacles. As robot morphologies include more degrees of freedom and obstacles become increasingly large and complex, U…