2018
A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots
Juan A. Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Małgorzata Karnedula, Nikos G. Tsagarakis
ICRA 2018poster
This work presents a new attitude balancing strategy implemented and validated on a quadrupedal robot equipped with a custom hybrid wheel-legged mobility system. The proposed method uses an inverse kinematics solution scheme based on Quadratic Programming optimization to generate full body motions t…