Trajectory Tracking Controller

Boston Dynamics released a video showing a modified Atlas humanoid with electric scooter wheels bolted to its ankle actuators via custom adapters, requiring no major hardware or software rebuild beyond swapping feet for wheels in simulation. The wheeled Atlas can jump and spin, sprint laterally, and completed a jump-and-spin on its first try using a trajectory-tracking controller, serving as a testbed for sustained actuator load and heavy-payload performance. It is a research platform, not a commercial product.