Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints

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Author
de Viragh, Yvain
Bjelonic, Marko
Bellicoso, C. Dario
Jenelten, Fabian
Hutter, Marcocc
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Date
2019-04
Type
    Journal Article
Rights / license
In Copyright - Non-Commercial Use Permitted
Permanent link
https://doi.org/10.3929/ethz-b-000320068
Publication status
published
External links
Journal / series
IEEE Robotics and Automation Letters
Volume
4(2)
Pages / Article No.
1633 - 1640
Publisher
IEEE
Subject
Legged Robots; Wheeled Robots; Motion and Path Planning; Optimization and Optimal Control
Organisational unit
09570 - Hutter, Marco / Hutter, Marco  
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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Citations
Cited 76 times in Scopus
ETH Bibliography
yes
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