Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain

Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In this letter, we present a trajectory optimization formulation for wheeled-legged robots that optimizes over the base and wheels' positions and forces and takes into account the terrain informat...