IROS 22 - A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO

<p>IROS 22 - A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO</p> <p>A. De Luca, L. Muratore and N. Tsagarakis. Italian institute of Technology, IIT.</p> <p>&nbsp;</p> <p>Hybrid Primitive Based planner executed on the real CENTAURO robot. The planner searches for a plan to reach the goal assigned with the available primitives. In this experiment, the primitives are: whole robot driving, and single wheel action. The latter can be divided into single-wheel driving and stepping, based on the elevation difference during the trajectory of the wheel. In addition, single-wheel driving can be merged to obtain the Macro &quot;Reshape&quot;, speeding up the execution.</p>