Remember ANYmal? This neat robot has been enhanced with wheels to perform hybrid locomotion in challenging environments. It allows the robot to overcome obstacles not easily possible for regular 4-legged robots.
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Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots
With whole body optimization, a wide variety of gaits are possible. The above video shows how the robot can overcome long distances at high speeds of up to 4 m/s.
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