Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

Hybrid wheeled-legged quadrupeds have the potential to navigate challenging terrain with
agility and speed and over long distances. However, obstacles can impede their progress by …

Roller skating with passive wheels on a quadrupedal robot is more efficient than traditional
walking. However, the typical mammalian quadruped robot with 3-DoFs legs can only …

The state estimation of legged robots often relies on ground contact detection. However, due
to complex mechanisms and other factors, ground contact detection can be challenging to …

In this paper, we propose an improved and effective control framework for wheel-legged
vehicles. Our framework allows the vehicle to navigate uneven terrains while maintaining …

Wheel-legged multi-mode vehicles exhibit the capability to effectively execute specialized
tasks in complex environments, relying on the maintenance of high maneuverability control …

In the study of trot gait locomotion in traditional quadruped robots, it has been observed that
the robot's body is prone to flip around the diagonal line of the body. A wheel-legged …

Jumping serves as an attractive solution for wheel-legged vehicle to overcome challenging
terrain and obstacle. In order to reduce the torque requirements during jumping and …