LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops
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DOI: 10.1109/lra.2020.2979625
Abstract: We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes… read more here.
Keywords: body; bipedal robot; wheeled bipedal; whole body ... See more keywords