Hybrid Locomotion for Wheeled-Legged Robots (Presentation)

Presentation at ICRA 2020: Our quadrupedal robot ANYmal equipped with actuated wheels performs dynamic hybrid walking-driving motions.
Journal article accepted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2020 in Paris, France:
Paper: www.markobjelonic.com/publica...
Video: • Rolling in the Deep - ...
Video by Marko Bjelonic, www.markobjelonic.com
Disclaimer: Robot from ANYbotics; customized by ETH Zürich; strictly for research purposes.

[@mattanimation]

I was waiting to see more about this robot, thanks for sharing!

[@leggedrobotics]

Check out our newest video: kzbin.info/www/bejne/laOzp36iq96qaNk

[@khalifdove7955]

Love it! This needs more views!!

[@ivanbreak]

yea, wheels are good idea, it's impressive the ability to walk, but wheel is the best invention ever so.... power of simplicity not to be ignored and replaced with something that only looks cool, combination of walk and wheels gives a lot of new possibilities

[@twistedyogert]

I agree. Legs can adapt to the terrain but have their own limitations. Wheels are simpler but can't always handle rough terrain.

[@twistedyogert]

Very nice.

[@NakedSageAstrology]

I would love to build something like this, but mine will have two arms and a large basket to store payloads.

[@erichahn6450]

So you have roller skating dog.....what else can it do?

[@Personnenenparle]

I feel like all these robot dogs gaits could be so much smoother if they would bring their legs closer to the center of mass

[@totumamedzade1994]

Good roller

[@MechDickel]

Yep... quadrupeds are the trend.

[@leggedrobotics]

Check out our newest video: kzbin.info/www/bejne/laOzp36iq96qaNk

[@twistedyogert]

What's the advantage of walking upright? Humans evolved to walk upright so obviously there is some advantage.

[@did3d523]

bad walker , bad roller

[@NekoNinja13]

I'm gonna be honest with, most of this went over my head, but it's still very interesting

[@pauldolton9118]

Haha ditto

[@leggedrobotics]

Check out our newest video: kzbin.info/www/bejne/laOzp36iq96qaNk

[@user-xq5of5dv1b]

Is there any paper

[@yutuniopati]

Wheeled legs make so much sens in comparison to legged robot.... Human or animal legs are inefficient, why the hell trying to 100% copy them ? I really don't understand the Boston Dynamic strategy with their Spot robots. Good job.

[@johntheux9238]

It really depend of what you want to achieve: kzbin.info/www/bejne/iHichYCkZqt9sMU kzbin.info/www/bejne/jIu6oJhpl9Z2qLs kzbin.info/www/bejne/p6i0cnqDlJt1oNU

[@johntheux9238]

Wheeled legs makes sense if you want to move in a 2d environment but boston dynamics is focusing on parkour.

[@thePavuk]

they mada hybrid robot too. Two legged with wheels.

[@dinil5566]

It might be inefficient but the terrain requires legs. If you got trapped in a mudpit, rollable tyres won't get you out but legs will.

[@leggedrobotics]

Check out our newest video: kzbin.info/www/bejne/laOzp36iq96qaNk

[@Build_the_Future]

Thanks for explaining. I'm building a two-legged walking robot on my channel check it out and tell me what you think thanks.

[@fernandoricardoporrasrojas2295]

LAS RUEDAS TIENEN QUE SER MAS GRANDES , DE ESA MANERA SE OPTIMIZA Y SE HACE MAS FUNCIONAL PARA TODA CIRCUNSTANCIA Y TERRENO A ESE ROBOT...+