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cs.RO2023
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +1
This paper presents a nonlinear model predictive control (NMPC) toward versatile motion generation for the telescopic-wheeled-legged robot Tachyon 3, the unique hardware structure…
cs.RO2023★ 1 cited
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa +4
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweig…