Offline motion libraries and online MPC for advanced mobility skills

[@my_dear_friend_]

Looks smooth and ready for the roller rink! For promotional rather than practical purposes.

[@timoeugster7809]

This is just so awesome! As a student of ETH, this just fuels my passion for robotics and all the opportunities that come with it. Seeing this kind of innovation at my uni, literally 100m from where I‘m studying for the upcoming exams is just incomprehensible… If my application for the focus project at RSL comes through, I would be able to work on a quite similar project. Fingers crossed haha :)

[@leggedrobotics]

Fingers crossed!

[@arjunps8349]

I’m full of excitement now. This has been “the one” project that inspired me to start working in quadrupeds. I hope that I can work with this team one day.

[@leggedrobotics]

What a compliment. Thanks 🙏

[@Gazzar19]

The movement is so fluent, very impressive!

[@leggedrobotics]

Check out the paper to see how we achieved it :)

[@TikiShootah]

That is such amazing locomotion. The transitions if you can even call them that It's like a mammal that's always had wheels

[@leggedrobotics]

This is what happens when toi optimize over the robots full dynamics including the wheels

[@DiegoAlanTorres96]

This is seriously astonishing

[@leggedrobotics]

Thanks 🙏

[@MonteLogic]

Wow! Floored again!

[@leggedrobotics]

Wr hope that we can repeat!

[@louabney]

Raibert is an historic contributor to the field of robotics but in this case the kudos go to the Swiss research organizations

[@leggedrobotics]

What an honor!

[@MarcoReis15]

Awesome!!!

[@leggedrobotics]

Thanks!!

[@lasertagdreamer]

Amazing! )

[@leggedrobotics]

🙏

[@williamhuang5329]

Hanzhen harmonic drive gear , strain wave reducer, robot joint , over 30 years experience

[@hughzcl7893]

amazing Jobs！ You set an example to me💪

[@leggedrobotics]

💪

[@ash.ab.5575]

I hope this #SWISS-MILE robot will be the first autonomous MARS explorer. better than old metal wheeled rovers

[@orpheus696]

you really make me want to join ETH just to have the chance to work at this project! :)

[@leggedrobotics]

Thank you!

[@guesmisadok298]

it's realy good project :) amayzing and i'm so interested in this field

[@leggedrobotics]

Thank you

[@barbeq9625]

Amazing performance! I've seen the paper but have a question. In 5.2 Torque generation, it is said that u* is translated into desired accelerations and inverse dynamics is used to generate torque, but the torque vector of wheels is not included in the u* since the u_to=[λ qj_dot] is only about contact force and joint velocity of legs. I'm wondering if there is an individual controller using velocity from TO as the control target to generate the torque vector of wheels, or maybe I've missed some important parts?

[@user-hk9eo6ux9h]

where can i buy it?

[@motokokusanagi7683]

Tachikoma!

[@leggedrobotics]

😂