Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion

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22 Jul 2019

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Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 Title: Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot Authors: Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, and Nikos G. Tsagarakis Abstract: Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In

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