Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion

Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 Title: Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot Authors: Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, and Nikos G. Tsagarakis Abstract: Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In