1 Online Discovery of Locomotion Modes for Wheel-Legged Hybrid Robots: a Transferability-based Approach

摘要

Wheel-legged hybrid robots aim at combining the efficiency of wheeled robots with the versatility of legged robots: 1–3 by adding wheels at the end of legs, they can act like wheeled robots on simple terrains and adapt their posture to the shape of an uneven ground; they can also stop their wheels and be equivalent to a classic legged robot. Several papers deal with the control of such wheel-legged robots 1–3 but most of them describe sinhal-00633930,