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• W3207439283 abstract "This paper presents a trajectory optimization approach to the motion generation problem of hybrid locomotion strategies for a wheeled-legged quadrupedal robot with steerable wheels. To this end, traditional Single Rigid Body Dynamics has been employed and extended by adding a unicycle model for each leg, conveniently incorporating the nonholonomic rolling constraints. The proposed approach can generate hybrid locomotion strategies as well as pure driving and legged locomotion with minimum effort for the user. The effectiveness of the proposed approach has been experimentally validated on the humanoid quadruped CENTAURO, employing a hierarchical inverse kinematics engine to track the planned motions." @default.
• W3207439283 created "2021-10-25" @default.
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• W3207439283 date "2021-07-19" @default.
• W3207439283 modified "2023-09-25" @default.
• W3207439283 title "Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion" @default.
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• W3207439283 doi "https://doi.org/10.1109/humanoids47582.2021.9555780" @default.
• W3207439283 hasPublicationYear "2021" @default.
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