4 accepted papers
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and optimization-based planning approach that can cope with challe…
This article presents a planning and control pipeline for legged-wheeled (hybrid) machines. It consists of a Trajectory Optimization based planner that computes references for end-effectors and joints. The references are tracked using a whole-body controller based on a hierarchical optimization appr…
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 challenging terrain. In this letter, we present a trajectory optimization formulation for wheeled-legged robots that
This article presents a trajectory planning framework for all-terrain vehicles with legs and wheels such as walking excavators. Our formulation takes into account the whole body of the robot while computing the plans for locomotion. Hence, we can produce motion plans over the rough terrain that woul…