Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion

Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi +3

Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] i…