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In this paper, we propose a novel approach on controlling wheel-leggedquadrupedal robots using pose optimization and force control via quadraticprogramming (QP). Our method allows the robot to leverage the whole-body motionand the wheel actuation to roll over high obstacles while keeping the wheeltorques to navigate the terrain while keeping the wheel traction and balancingthe robot body. In detail, we first present a linear rigid body dynamics withwheels that can be used for real-time balancing control of wheel-legged robots.We then introduce an effective pose optimization method for wheel-leggedrobot's locomotion over steep ramp and stair terrains. The pose optimizationsolves for optimal poses to enhance stability and enforce collision-feeconstraints for the rolling motion over stair terrain. Experimental validationon the real robot demonstrated the capability of rolling up on a 0.36 mobstacle. The robot can also successfully roll up and down multiple stairswithout lifting its legs or having collision with the terrain.

Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles