Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots

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Our quadrupedal robot ANYmal equipped with actuated wheels performs dynamic hybrid walking-driving motions.

Journal article accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2022 in Paris, France:

Video by Marko Bjelonic,

Acknowledgment:
The authors would like to thank the CERBERUS team consisting of the University of Nevada, Reno, ETH Zurich, Sierra Nevada Corporation, University of California, Berkeley, and Flyability for helping to integrate the robot’s autonomy. Special thanks in this regard go to Eris Sako, Markus Stäuble, Giorgio Valsecchi, Marco Tranzatto, Fabian Tresoldi, Fabian Jenelten, Russell Buchanan, Takahiro Miki, Lorenz Wellhausen, Jan Carius, and Samuel Zimmermann from the Robotic Systems Lab of ETH Zurich.

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