Zhicheng Yuan

VectorGlide: Realizing Continuum Drive Paradigm via Integrated Contact Kino-Dynamic MPC for Wheeled Quadruped Robots

This letter addresses the inherent inefficiencies and limited agility of traditional gait-based locomotion by proposing the continuum drive paradigm as a high-performance alternative. Existing control frameworks are limited by their simplified predictive models and decoupled planners, which prevent