Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots

Our roller-walking robot ANYmal equipped with actuated wheels performs hybrid locomotion in challenging environments. Journal article submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi’an, China: Video by Marko Bjelonic, This work was supported in part by the Swiss National Science Foundation (SNF) through the National Ce