Remember ANYmal? It is a quadrupedal robot that can be taught many tasks and take on autonomous navigation in challenging environments. With wheels, it can combine the advantages of walking and driving to handle uneven surfaces. Researchers have come up with dynamic locomotion strategies for such robots to handle flat and inclined terrains.
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Keep Rollin' – Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
The framework takes into account the additional degrees of freedom due to the wheels. The above video shows how it works.
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