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

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Our roller-walking robot ANYmal equipped with actuated wheels performs hybrid locomotion in challenging environments. Accepted for the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) in Prague, Czech Republic: Video by Marko Bjelonic, This work was supported in part by armasuisse W&T, the Swiss National Science Foundation (SNF) through the National Centres of Competence in Research Robotics (NCCR Robotics) and Digital Fabrication (NCCR dfab). Besides, it has been conducted as part of ANYmal Research, a community to advance legged robotics.

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