284 citations · 498 across the 2 of their papers we have counts for
2 papers
cs.RO2018★ 214 cited
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh +4
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integra…
cs.RO2017★ 284 cited
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Michael Neunert, Markus Stäuble, Markus Giftthaler +5
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes…