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

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

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

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

How much for a robo doggo on roller skates?

Are you auto replying thanks?

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

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

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

This is awesome...

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

super cool

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

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.

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!

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?

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

I like it.

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

Wunderbar. Excellent. Super

Awesome

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.

Nice work guys!

Open source hardware / software?

This looks like caspian report voice

I want a motorcycle version

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?

the video's wonderfully demonstrated the concept

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.

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. ?

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!

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

Great work and a really nice video!

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

collaboration between the natural locomotion and wheels is the key

Totally agree

Woouuuu!!!! Ficou incrível!!😀

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!

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

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?

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

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

The environment in this video is really nice!!

Ripping off Boston dynamics but putting wheels on it

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.

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

The robot looked like cgi but well its fascinating

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

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

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

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

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

But how about grabbing stuff?

Just wait till it has a weapon on it…

cool it can MOONWALK

I see a really cool motorhome

Now I know of a future Arduino project.

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.

can you provide details about classification of leg wheel hybrid robots

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

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.

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