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

Download
Full text (accepted version) (PDF, 918.2Kb)
Thumbnail
Open access
Author
de Viragh, Yvain
Bjelonic, Marko
Bellicoso, C. Dario
Jenelten, Fabian
Hutter, Marcocc
Show all
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
More
Show all metadata
Citations
Cited 34 times in Web of Science
Cited 47 times in Scopus
ETH Bibliography
yes
Altmetrics