Towards high mobility and adaptive mode transitions: Transformable wheel-biped humanoid locomotion strategy

January 1, 2025·
Junhang Lai
,
Xuechao Chen
,
Zhangguo Yu
,
Zhuo Chen
,
Chencheng Dong
,
Xiaofeng Liu
,
Qiang Huang
· 1 min read
Abstract
This work studies high-mobility locomotion and adaptive mode transitions for transformable wheel-biped humanoid robots, focusing on motion planning and control strategies that support stable switching between legged and wheeled modes.
Type
Publication
ISA Transactions
Status
Peer-reviewed
publications

First-author paper. The exact DOI, PDF, and full author list should be filled in after bibliography cleanup.

Humanoid Locomotion Transformable Robots Motion Planning Control