Abstract: Wheel slips are unavoidable when moving on a 3D rough surface. They are mainly due to geometrical features of contact surfaces. In this paper, we propose a model for predicting rover motion and contact slips by using a ...

Abstract: This paper proposes a new wholebody motion generator for a quadrupedonwheel robot that can cross various rough terrains, especially with a muchaltitude difference. The motion generator combines the kinematics model, the ...

Abstract: This paper proposes a new whole-body motion generator for a quadruped-on-wheel robot that can cross various rough terrains, especially with a much-altitude difference. The motion generator combines the kinematics model, ...