Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots

[@NovaTech2010]

1:04 That look's soo cute :D What a masterpiece of robo-dog!

[@Solarstormflare]

this is exactly the video i was hoping to find on the internet today!!!!

[@leggedrobotics]

You're welcome!!

[@ashishkarumbiah1365]

This is awesome...

[@paolodepetris7034]

The quality of this video is amazing and the work even better! Love the drone view

[@leggedrobotics]

We are happy that you like it.

[@elijahcrosby6141]

instablaster

[@heinrichwonders8861]

Amazing! You actually did it! This is a great leap forward from the Gait-Disturbance-Only Approach.

[@leggedrobotics]

Thanks :)

[@markobjelonic2225]

Indeed!

[@babarjamil7595]

Wowwwww i am blown away with this video.... really want to do research on these kind of robots

[@leggedrobotics]

Thanks. :)

[@rasaidtsang4456]

The environment in this video is really nice!!

[@leggedrobotics]

Thanks!

[@LV-426...]

It's like WW2 ended yesterday:))

[@PiefacePete46]

There seems to be a reluctance to pursue this concept, yet it offers so many advantages over leg-only or wheeled-only devices. There also seems to be a love affair with two wheeled or two legged robots, yet this usually means more complexity and potential for catastrophe. They can't even remain stationary without using power, unless some additional mechanism or "sit-down" pose is incorporated. You are on the right track!

[@leggedrobotics]

Thank you. Stay tuned and more is to come. :)

[@patricklepoutre]

Wunderbar. Excellent. Super

[@leggedrobotics]

Thanks. :)

[@kavorka8855]

the video's wonderfully demonstrated the concept

[@leggedrobotics]

Thank you. :)

[@fadi.almasalmah]

Nice work guys!

[@leggedrobotics]

Thank you. :)

[@zeev]

amazon showed proof of a 2 leg robot with wheels that also had arms for moving things around a warehouse. warehouse bots are boring robots designed for the predictable, and to breakdown/fail in the face of the unpredictable. this robot here is where the realquadropedal-wheel action is. well done.

[@leggedrobotics]

Thank you for the compliment.

[@cobotulim4818]

das ist eine ungewöhnliche Kombination: 4 Beine mit Rädern dran. Habe ich so bisher nich nirgends anders gesehen! Tolle Idee #ANYmal #robotics

[@leggedrobotics]

Danke dir! :)

[@cobotulim4818]

@@leggedrobotics nichts zu danke. Ich finde eure Arbeit einfach spannend! Habe sogar schon jemanden empfohlen sich bei euch zu bewerben ;-)

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@misterapplesauce6255]

This way of moving looks really cool and efficient. It could also be applied to two-legged humanoid robots. If the robot was bigger it could even become an all-terrain car, ha!

[@leggedrobotics]

You are right. :)

[@nkhedekar]

Great work and a really nice video!

[@leggedrobotics]

Glad you liked it!

[@AliIsmaeltyphoon]

Any new video in 2022 please ? this robot is the best !

[@Duraltia]

I assume applicants for this class had to be familiar with *Ghost in the Shell S.A.C.,* right?

[@danielfu3756]

LOL hhh

[@MatPost]

Tachikomas rolling down the streets can be a reality!

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@interestedinstuff]

I assume you guys have watched the Ghost in the Shell animations and see the Fuchikoma and Tachikoma. Wheels with legs are the way to go, in their case though, when a robot needs to step or walk, it either tilts the wheel out of the way to use a foot, or the wheel itself modifies into a foot. Saves having the wheel have to backtorque against the motion of the leg. The processor can treat the end of the leg as a static foot when it needs a foot, and a wheel when it needs a wheel. Wonderful to watch, and this was three years ago. I wonder where it is up to now.

[@MechanimalChief]

Watching this happen is kinda like the "Tic-Toc" of processor evolution, but instead of Tic= New Architecture and Toc= Shrink/Condense with robots it's Tic= New Anatomy and Toc= Behavior Tuning. And of course it's far more abstract overall, was far more specific with microprocessor evolution. But this video is a great example of the latter in robotics, and in a very special niche at that. Point is there is a eb and flow pattern to overall robot evolution at a macro level, as with nature. The interesting thing about watching this specific niche evolve over decades is how the "New Anatomy" aspect is really just adding two unique features into one, but the best part is that one, the leg, is congruent with nature, whilst the other, the wheel, is a new technology by comparison. And a profound one at that. So, we've got natures best land mobility method tuned in an astounding multitude of ways over many millions of years, combined with what could best be described as it's technological equivalent. And even though we've only been evolving wheels, and their multitude of uses, for a few thousand years, holy hot damn have we done a lot with them. So, naturally, putting these 2 together is going to wield some intense results. It lit my mind on fire with ideas in the late 90's and has only grown ever since. It's been excruciating at times watching these techs evolve separately in robotics, right next to each other, and I've been just waiting for it to happen. Like 2 oppositely charged particles hovering next to each other, eager and knowing that reaction is about to occur, and a new form of matter will be born. So now that it has finally occured the things we'll see over the next decade and beyond are gonna be on a whole new level when it comes to dynamic mobility. Creatures that move in ways we've never seen or thought possible. This lab specifically is becoming ever more focused on making it happen, leading the way in many regards. It's been nice to see you gripping the torch ever tighter to blaze down this path. Really is a special treat to see it unfold so intimately along the way. Especially knowing there will never be another point, in ALL of history, where we could observe this epic "ology" fusion, the leg and the wheel, occur in real-time. Keep it going, and Thank You.

[@leggedrobotics]

Thank you for this motivational text. We hope that we can push this new technology even further.

[@liba01]

super cool

[@leggedrobotics]

Thanks. :)

[@marcosalmeida9465]

Woouuuu!!!! Ficou incrível!!😀

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@AhmetAkifKaya]

collaboration between the natural locomotion and wheels is the key

[@leggedrobotics]

Thanks. :)

[@markobjelonic2225]

I agree!

[@picostrider2826]

Yeah, it's just better in any way, not a big deal.

[@picostrider2826]

Guys are you planning on making a showy video of some sorts? Like the Boston Dynamics dance videos.

[@leggedrobotics]

It's planned. So, stay tuned. :)

[@shaider1982]

I like the fact that it doesn't change modes but integrate the wheels and legs in the movements.

[@picostrider2826]

I can't stop thinking about waitresses on roller skates. Amazing as always!

[@picostrider2826]

I would love to see them work in a restaurant.

[@leggedrobotics]

@@picostrider2826 Maybe a new application we should look into. :D

[@tantumDicoQuodCogito]

Totally agree

[@ph4z_]

So this is like Spot with rollerskates :)? Very clever!

[@leggedrobotics]

There are many four-legged robots out there but this is the first wheeled version.

[@ph4z_]

@@leggedrobotics I know but at first glance it just reminds of Spot. The wheel / legs combination is ingenious. Good luck with the research, it seems very promising.

[@leggedrobotics]

@@ph4z_ Thanks!

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@jijiehuang5033]

I admire the contributions you've made in the field of wheeled-legged robots! I was impressed by the performance of the Anymal robot in the corresponding video of your paper. However, after carefully reading the paper, I have some questions. The paper doesn't seem to include the state of the wheels as part of the MPC states and inputs but rather treats it as a rolling constraint. My question is, how is the control of the wheels implemented? How do you obtain the torque for the wheels?

I like it.

[@leggedrobotics]

Thanks. :)

[@kckfen]

Somehow i feel this could be the father of Taichikoma, the Ghost in a Shell robot aids the mejar use 😅🤣😂😅

[@leggedrobotics]

This was our inspitation.

[@invisiblealex007]

I will give you an idea. Brake a wheel and it become a rigid leg. Lot if similar projects tries to convert wheels to a legs with a mechanical transformation (bend, turn ect). Just brake it and fix it and you will get a leg.

[@leggedrobotics]

Great idea.

[@invisiblealex007]

@@leggedrobotics glad to hear it

[@CitizensCommunity]

I am curious as to why the robot seems to still have the issue of spreading legs, is this a problem of motor strength? I would have thought a slight inward turn to the wheels would at least stop that in a video from 2 yrs ago, is there more to it than I am thinking?

[@leggedrobotics]

The wheels are still mounted in the same way, i.e., orientation with the human eye. We still need to mechanically align the wheels' orientation.

[@dhruvmehta8809]

Where can I find or buy the leg portion with the actuated wheels?

[@dummyL-b2r]

Hi there! I'm curious about the wheel control in your robot. Do you provide velocity commands or torque commands to control the wheels? Is it optimized through calculations or some other method?

[@slomnim]

I want a motorcycle version

[@leggedrobotics]

We too!

[@herp_derpingson]

How much for a robo doggo on roller skates?

[@akshaymarvaniya6227]

This is any company robotics research lab? Or college (university) robotics research lab?

[@leggedrobotics]

This is the Robotic Systems Lab of ETH Zurich in Switzerland.

[@joannot6706]

Always baffled me that spot doesn't have this considering boston dynamics also made handle which has wheels. The energy saved by using wheels only when necessary is huge. I don't get it.

[@leggedrobotics]

We made their dream come true!

[@edupedika]

can you provide details about classification of leg wheel hybrid robots

[@re_animator]

Finally! this is what I've been saying for a long time. LEGGED ROBOTS NEED WHEELS! It's faster, and energy efficient! And yes, humanoids need them too!

[@leggedrobotics]

Let's put wheels everywhere!

[@DilgillRobloxer]

@@leggedrobotics wheeled wheels?

[@leggedrobotics]

@@DilgillRobloxer yes. :D

[@hubble-02]

Did you guys use a custom built actuated wheel at the contact?

[@leggedrobotics]

Yes we did. :)

[@garylcamp]

I had this idea years ago (see my website). But I also wanted to have gripers/hands on each "leg" and I proposed making the legs interchangeable and field replaceable. Thus if a hand or arm fails, it could be replaced with spares. Designed right, the robots could do it. If there were teams of robots, combining good parts would allow graceful degradation of the mission. Also, some graceful degradation of each robot might be possible. IE limp mode, missing hand, 3 leged walk, etc.

[@leggedrobotics]

Sounds great.

[@castortoutnu]

Wow that's what I've been saying for awhile now! Spot mini should have wheels for feet.

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@vatandas1542]

Impressive. No suspension, I presume or were you also able to integrate a suspension with the stepping mechanism?

[@leggedrobotics]

There is an active suspension because each leg has 4 degrees of freedom. But not like in a car where you only have springs.

[@leonspencer782]

I see a really cool motorhome

[@derekk.2263]

Testing this thing out at a post apocalypse site was a nice touch.

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@DOSputin]

Open source hardware / software?

[@leggedrobotics]

You can find some open source software on our github page.

[@LV-426...]

But how about grabbing stuff?

[@raghavduddala4122]

ANYmal surpassing the Spot yet again! Is the surface perception done using LIDAR?

[@leggedrobotics]

We have several sensors to perceive the surface, e.g., LIDAR and depth cameras.

[@pewbaca2611]

Are you auto replying thanks?

[@leggedrobotics]

No. :)

[@dboydboy6640]

This looks like caspian report voice

[@leggedrobotics]

Check out our new video of the robot: kzbin.info/www/bejne/iHvcmY2Lps9mnq8

[@twistedyogert]

Now I know of a future Arduino project.

[@leggedrobotics]

Post it here when you are done!

[@twistedyogert]

@@leggedrobotics It was something I thought about. I don't think I can do that.

[@lipjoralvci3355]

The robot looked like cgi but well its fascinating

[@leggedrobotics]

Thank you. :D

[@bernardli9514]

Is it strange that I want to pet the robot dog?

[@leggedrobotics]

No its not. :)

[@utkarshshukla231]

Boston Dynamics Wants to know your location 😈😁 , Btw This is just great! ♥️ What Knowledge do we require to make such things ( PID , ML ??) and what was your budget. ?

[@leggedrobotics]

To build a robot by yourself, you need knowledge in mechanical engineering, electrical engineering, and computer science.

[@utkarshshukla231]

@@leggedrobotics Oh! Sir actually i am doing Electrical Engineering from India , Hopefully Sone day I'll be making stuff like you! ❤️🙇🏻‍♂️

[@simonharvey7141]

Hi, What university is this at? I'm finishing my undergrad this year and would like to apply.

[@leggedrobotics]

ETH Zurich in Switzerland

[@Seen-hq7rf]

cool it can MOONWALK

[@gregs6403]

Hi, I'd like to offer to do a professional voiceover for this video free of charge. If you're interested, let me know.

[@danielkuva7966]

Just wait till it has a weapon on it…

[@r3gr3tfulfly3r5]

Ripping off Boston dynamics but putting wheels on it

[@erevos217]

quoting sir isaac newton "if i have seen further, it is by standing on the shoulders of giants." p.s: not ripping off but working on.

[@r3gr3tfulfly3r5]

@@erevos217 the design is that of Boston dynamics the exact same thing just has wheels. Plagiarism isn’t academic it’s the sign of a idiot trying to pass himself off as smart

[@erevos217]

@@r3gr3tfulfly3r5 i don't think you understood the meaning behind that quote.

[@r3gr3tfulfly3r5]

@@erevos217 look at Boston dynamics and your knock off you’re doing what China is doing. Ripping off our technology because you’re too stupid to invent your own

[@headscoooper]

@@r3gr3tfulfly3r5 they dont even look the same... whats ur point

[@njunyeoj]

Awesome

[@leggedrobotics]

Thanks!