Quadrupedal robot ANYmal equipped with actuated wheels performs dynamic hybrid walking-driving motions. Paper submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France: https://mbjelonic.github.io/publicati…

Video by Marko Bjelonic, http://www.markobjelonic.me

Acknowledgment: The authors would like to thank the CERBERUS team consisting of University of Nevada, Reno, ETH Zurich, Sierra Nevada Corporation, University of California, Berkeley, and Flyability for helping to integrate the robot’s autonomy. Special thanks in this regards go to Eris Sako, Markus Stäuble, Giorgio Valsecchi, Marco Tranzatto, Fabian Tresoldi, Fabian Jenelten, Russell Buchanan, Takahiro Miki, Lorenz Wellhausen, Jan Carius, and Samuel Zimmermann from the Robotic Systems Lab of ETH Zurich.

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