Zhenlong Fang

Efficient and Versatile Quadrupedal Skating: Optimal Co-Design Via Reinforcement Learning and Bayesian Optimization

In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-wheel skating reduces leg inertia and improves energy efficiency, particularly at high speeds. However, the absence of direc…