Locomotion

Wheeled-Legged Robot

A wheeled-legged robot is a hybrid platform with actuated wheels mounted at the ends of articulated legs, combining the energy efficiency and speed of rolling on flat ground with legged capability for steps, curbs, and rough terrain. Examples include ETH Zurich's ANYmal on wheels and the Swiss-Mile robot, balancing bipeds such as Ascento, and wheeled variants of commercial quadrupeds.

Why it matters for physical AI

Hybrid morphologies expand the deployable envelope of mobile robots in cities and warehouses, and their whole-body controllers, often trained with reinforcement learning, showcase how learned control exploits morphology beyond hand-designed gaits.