Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots
Published 2019-09-16
Journal article accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France:
www.markobjelonic.com/publications/files/2020_ral_…
Video by Marko Bjelonic, www.markobjelonic.com/
Acknowledgment:
The authors would like to thank the CERBERUS team consisting of the 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 regard 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.
All Comments (21)
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It took the universe 13.772 billion years to develop roller-skating robot dog.
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Was expecting a robot dancing to "adele rolling in the deep"
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Nice guys
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The robot looks so cute.
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Tachikoma!
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I swear to the gods, I hope I'll be able to ride something like this before I die!
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I LOVE ROBOTICS!! Jake from UK!
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Awesome guys
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nice work!
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The Terminator would never stop, it would never leave him... it would always be there. And it would never hurt him, never shout at him or get drunk and hit him, or say it couldn't spend time with him because it was too busy.
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Holy shit, I knew the Tachikoma designs were practical!
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Such a clever invention! congratulations ! ! ! wonder how this, mixed with a fine tune kinetic system, could save/gain power when sliding on long distances without using motors...but i might be dreamin' again :) Bravo again and please keep up your brilliant works
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Why some people don't like Anymal robot ? Because it made in Switzerland, they jealous of the small country. Actually, Switzerland is an amazing country, a small but strong country.
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Bigger wheels and only walk when it has to save energy,,,
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These people just can't stop...
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It's like a rollerblading dog doing the peepee dance.
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This looks like a prototype version of what will eventually become the Metal Gear MK.II or maybe a mechanical version of the "wheeler" from Return to OZ.
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Anymal VS Goggle spot mini. I'd like to see that challenge
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I assume you are treating obstacles purely as gait disturbances? Do you plan to develop a more adaptive form of gait switching in the future? Make it able to drive up to obstacles, sense them before rolling over them and only lift the wheel when necessary?
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cool :)
