3 accepted papers
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated us
We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach relies on a zero-moment point-based motion op
We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zeromoment point balance criterion, we rely on quadratic