{"id":"https://openalex.org/W2972814924","doi":"https://doi.org/10.1109/lra.2020.2979661","title":"Rolling in the Deep \u2013 Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization","display_name":"Rolling in the Deep \u2013 Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization","publication_year":2020,"publication_date":"2020-03-09","ids":{"openalex":"https://openalex.org/W2972814924","doi":"https://doi.org/10.1109/lra.2020.2979661","mag":"2972814924"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2979661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2979661","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.07193","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020694820","display_name":"Marko Bjelonic","orcid":"https://orcid.org/0000-0002-9123-3920"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marko Bjelonic","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","ETH Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-9123-3920","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067244492","display_name":"Prajish K. Sankar","orcid":"https://orcid.org/0000-0003-3635-8218"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["CH","NL"],"is_corresponding":false,"raw_author_name":"Prajish K. Sankar","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3635-8218","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000837610","display_name":"C. Dario Bellicoso","orcid":"https://orcid.org/0000-0003-3856-0735"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]},{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"C. Dario Bellicoso","raw_affiliation_strings":["Boston Dynamics, Waltham, USA","Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3856-0735","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, USA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007760731","display_name":"Heike Vallery","orcid":"https://orcid.org/0000-0002-0305-398X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Heike Vallery","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","[Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, CD, The Netherlands]"],"raw_orcid":"https://orcid.org/0000-0002-0305-398X","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"[Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, CD, The Netherlands]","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.221,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.42354994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"2","first_page":"3626","last_page":"3633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8060452342033386},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7304418087005615},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6711968183517456},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6276695728302002},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5543587803840637},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5121042728424072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089466571807861},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.485286682844162},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4712895452976227},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4464494585990906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4311813712120056},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39566606283187866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3906967043876648},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37490177154541016},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3542637825012207},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3534508943557739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31351765990257263},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15459111332893372}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8060452342033386},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7304418087005615},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6711968183517456},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6276695728302002},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5543587803840637},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5121042728424072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089466571807861},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.485286682844162},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4712895452976227},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4464494585990906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4311813712120056},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39566606283187866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3906967043876648},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37490177154541016},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3542637825012207},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3534508943557739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31351765990257263},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15459111332893372},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/lra.2020.2979661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2979661","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.07193","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.07193","pdf_url":"https://arxiv.org/pdf/1909.07193","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:tudelft.nl:uuid:457db60a-1710-4c37-a1d0-1a7ac26befbb","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:457db60a-1710-4c37-a1d0-1a7ac26befbb","pdf_url":"http://resolver.tudelft.nl/uuid:457db60a-1710-4c37-a1d0-1a7ac26befbb","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/395047","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/395047","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 5 (2)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.1909.07193","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.07193","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"doi:10.3929/ethz-b-000395047","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000395047","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:2972814924","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.07193","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.07193","pdf_url":"https://arxiv.org/pdf/1909.07193","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1927753533","https://openalex.org/W1998480117","https://openalex.org/W2037729465","https://openalex.org/W2092132557","https://openalex.org/W2127763473","https://openalex.org/W2159307101","https://openalex.org/W2161427949","https://openalex.org/W2169673025","https://openalex.org/W2294151168","https://openalex.org/W2296360731","https://openalex.org/W2419326772","https://openalex.org/W2564178275","https://openalex.org/W2583155113","https://openalex.org/W2764255492","https://openalex.org/W2768737714","https://openalex.org/W2788030459","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2900087960","https://openalex.org/W2901522995","https://openalex.org/W2908534815","https://openalex.org/W2909331752","https://openalex.org/W2910066306","https://openalex.org/W2911195500","https://openalex.org/W2913792742","https://openalex.org/W2950302787","https://openalex.org/W2950546634","https://openalex.org/W2951633861","https://openalex.org/W2951805468","https://openalex.org/W2968764556","https://openalex.org/W2970228732","https://openalex.org/W2980626718","https://openalex.org/W3011481717","https://openalex.org/W3099083868","https://openalex.org/W3101175487","https://openalex.org/W3101817006","https://openalex.org/W4241459016","https://openalex.org/W6756614239"],"related_works":["https://openalex.org/W3003397085","https://openalex.org/W2991426184","https://openalex.org/W3101817006","https://openalex.org/W3199305245","https://openalex.org/W3130733935","https://openalex.org/W3011896035","https://openalex.org/W3125445761","https://openalex.org/W2026921322","https://openalex.org/W2788200022","https://openalex.org/W2410621027","https://openalex.org/W3090849322","https://openalex.org/W2548345464","https://openalex.org/W2536879951","https://openalex.org/W3116635856","https://openalex.org/W2144587497","https://openalex.org/W3189389042","https://openalex.org/W3113883030","https://openalex.org/W2293764027","https://openalex.org/W3034058602","https://openalex.org/W3016972249"],"abstract_inverted_index":{"Wheeled-legged":[0],"robots":[1,47,74],"have":[2],"the":[3,58,111,146,150,160],"potential":[4],"for":[5,21,44,70],"highly":[6],"agile":[7],"and":[8,15,27,64,90,165],"versatile":[9],"locomotion.":[10],"The":[11,96,128],"combination":[12],"of":[13,49,137],"legs":[14],"wheels":[16,123],"might":[17],"be":[18,79],"a":[19,62,85,102,118,134],"solution":[20],"any":[22],"real-world":[23],"application":[24],"requiring":[25],"rapid,":[26],"long-distance":[28],"mobility":[29],"skills":[30],"on":[31,117,140],"challenging":[32],"terrain.":[33,142],"In":[34],"this":[35],"letter,":[36],"we":[37,144],"present":[38],"an":[39],"online":[40],"trajectory":[41,66],"optimization":[42,59],"framework":[43],"wheeled":[45],"quadrupedal":[46,119],"capable":[48],"executing":[50],"hybrid":[51,131],"walking-driving":[52],"locomotion":[53,68,132],"strategies.":[54],"By":[55],"breaking":[56],"down":[57],"problem":[60],"into":[61],"wheel":[63],"base":[65],"planning,":[67],"planning":[69],"high":[71],"dimensional":[72],"wheeled-legged":[73],"becomes":[75,91],"more":[76],"tractable,":[77],"can":[78],"solved":[80],"in":[81,84],"real-time":[82],"on-board":[83],"model":[86],"predictive":[87],"control":[88],"fashion,":[89],"robust":[92],"against":[93],"unpredicted":[94],"disturbances.":[95],"reference":[97],"motions":[98],"are":[99],"tracked":[100],"by":[101],"hierarchical":[103],"whole-body":[104],"controller":[105],"that":[106],"sends":[107],"torque":[108],"commands":[109],"to":[110,125],"robot.":[112],"Our":[113],"approach":[114],"is":[115],"verified":[116],"robot":[120,129,161],"with":[121,133],"non-steerable":[122],"attached":[124],"its":[126],"legs.":[127],"performs":[130],"great":[135],"variety":[136],"gait":[138],"sequences":[139],"rough":[141],"Besides,":[143],"validated":[145],"robotic":[147],"platform":[148],"at":[149],"Defense":[151],"Advanced":[152],"Research":[153],"Projects":[154],"Agency":[155],"(DARPA)":[156],"Subterranean":[157],"Challenge,":[158],"where":[159],"rapidly":[162],"mapped,":[163],"navigated":[164],"explored":[166],"dynamic":[167],"underground":[168],"environments.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}