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Then, a hybrid motion planning framework is proposed to determine the rover\u2019s gait patterns and parameterize the legs\u2019 and the body\u2019s trajectories. Furthermore, an optimization algorithm based on B-spline is utilized to minimize the motors\u2019 energy dissipation and generate smooth trajectories. The wheeled and legged hybridization allows the rover for faster locomotion while maintaining high stability. Besides, it also improves the rover\u2019s ability to overcome obstacles. Prototype experiments are carried out in more complex environments to verify the rover\u2019s flexibility and maneuverability to traverse irregular terrains. The proposed algorithm reduces the swing amplitude by 83.3% compared to purely legged locomotion.<\/jats:p>","DOI":"10.1017\/s0263574723001406","type":"journal-article","created":{"date-parts":[[2023,10,25]],"date-time":"2023-10-25T09:03:18Z","timestamp":1698224598000},"page":"153-178","source":"Crossref","is-referenced-by-count":9,"title":["Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains"],"prefix":"10.1017","volume":"42","author":[{"given":"Bike","family":"Zhu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6765-1738","authenticated-orcid":false,"given":"Jun","family":"He","sequence":"additional","affiliation":[]},{"given":"Jiaze","family":"Sun","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,10,25]]},"reference":[{"key":"S0263574723001406_ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001413"},{"key":"S0263574723001406_ref1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4051684"},{"key":"S0263574723001406_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0680-9"},{"key":"S0263574723001406_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2019.09.021"},{"key":"S0263574723001406_ref14","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aca456"},{"key":"S0263574723001406_ref22","first-page":"83","volume-title":"Climbing and Walking Robots Conference","author":"Bjelonic","year":"2022"},{"key":"S0263574723001406_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-020-09952-7"},{"key":"S0263574723001406_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829462"},{"key":"S0263574723001406_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2020.11.005"},{"key":"S0263574723001406_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001544"},{"key":"S0263574723001406_ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20193"},{"key":"S0263574723001406_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574717000418"},{"key":"S0263574723001406_ref10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21894"},{"key":"S0263574723001406_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000746"},{"key":"S0263574723001406_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029417"},{"key":"S0263574723001406_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104714"},{"key":"S0263574723001406_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s11214-020-00739-x"},{"key":"S0263574723001406_ref29","doi-asserted-by":"publisher","DOI":"10.1177\/09544062221104376"},{"key":"S0263574723001406_ref7","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.robot.2012.09.010","article-title":"Systematic kinematics analysis and balance control of high mobility rovers over rough terrain","volume":"61","author":"Mahmoud","year":"2013","journal-title":"Robot. 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