FLORES is a wheel-legged robot with front-leg hip-yaw DoFs replacing hip-roll, paired with a custom RL controller using adapted HIM and tailored rewards for smooth wheeled-to-legged transitions and efficient gaits.
Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
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A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability
FLORES is a wheel-legged robot with front-leg hip-yaw DoFs replacing hip-roll, paired with a custom RL controller using adapted HIM and tailored rewards for smooth wheeled-to-legged transitions and efficient gaits.