Keep Rollin’ - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

New video of ANYmal with actuated wheels: Watch our wheeled-legged robot executing the first dynamic locomotion over flat, inclined and rough terrain.
Paper accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2019 in Montreal, Canada: www.markobjelo...
Video by Marko Bjelonic, www.markobjelo...

[@twnisixelthnihuandeini4639]

Brake the wheels put in walking mode?

[@leggedrobotics]

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[@coulombicdistortion1814]

After you guys put some proper mechanical brakes on the wheels, and solve the issue of the front legs spreading apart over time; you'll definitely have a great add-on improvement to your robot.

[@leggedrobotics]

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[@spiderrobotheavyduty5028]

i think you should separate with wheel and leg. do not combine to put the wheel on the end of the leg , you know it is not CONVINENT to change operation mode.

[@leggedrobotics]

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[@muhammadbilalkhan1450]

Cool. Now do a paper on what if a wheel fails

[@leggedrobotics]

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[@omnianti0]

you have to learn to use rollerskate rollerblades motions on your own foots before atempting to teach a machine to it
aka where the neirds go fail

[@leggedrobotics]

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[@AzoreanProud]

Hyundai Elevate.
Car size of this. To achieve places not even 4x4 Jeep's can go.

[@leggedrobotics]

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[@COOLGODBOSS]

you can see thiis is like an organism humans made....it is moving on its own doing some reactions/responses.....yup

[@leggedrobotics]

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[@tatcyr206]

Why motor have so little torque when walking?

[@leggedrobotics]

Very old work…. There is new stuff on our channel

[@jiewang_x]

Question: is it more energy and time efficient by keep rolling between 0:45 and 1:15? Considering the step height is about the same size as the wheel's diameter. Thank you.

[@leggedrobotics]

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[@PetrasL_1976]

I would consider to add wheels on heels by leaving usual rubber tips at the same time. In this case you can drive with low profile (much stable) through flat surfaces, and use legs when you need to stroll throu high grass or other uneven surfaces ;)

[@leggedrobotics]

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[@pianotutorialsforeverybody1545]

Cool !

[@leggedrobotics]

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[@mistercohaagen]

It's a GITS mini think tank. A baby Tachikoma!

[@leggedrobotics]

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[@myperspective5091]

Put two wheel rollerblades on it, so it has 8 wheels.

[@leggedrobotics]

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[@Mirandorl]

What was causing it to pull to the left?

[@leggedrobotics]

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[@bobliao8535]

great work

[@leggedrobotics]

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[@retrorobodog]

:)

[@leggedrobotics]

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[@imborn3746]

Ridicule trop lent comme robot ya bc mieu sur le marcher robotique !

[@leggedrobotics]

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