This paper provides a legged stable walking control strategy based on multi-sensor
information feedback about BIT-NAZA-II, a large load parallel hexapod wheel-legged robot …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the
advantages of both walking and driving. The developed optimization framework tightly …

This paper investigates a novel hybrid gait obstacle-avoidance control strategy based on a
perception system for the six wheel-legged robot (BIT-6NAZA) in uneven terrain. This robot …

Wheeled-legged robots have the potential for highly agile and versatile locomotion. The
combination of legs and wheels might be a solution for any real-world application requiring …

Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …

We present a hierarchical whole-body controller leveraging the full rigid body dynamics of
the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of …

This article presents a review of the platform configuration and dynamic of obstacle-
surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have …

Wheeled-legged robots are an attractive solution for versatile locomotion in challenging
terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse …

This paper focuses on the posture control performance on uneven terrain for a wheel-legged
robot (WLR). Firstly, a novel four-wheel-legged robot (FWLR) with series slow active …