LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops

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 to more complex systems. The rolling constraint is incorporated u...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 5; no. 2; pp. 3745 - 3752
Main Authors:	Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Complex systems Controllers Dynamics Exact solutions Kinematics Lean angle Legged locomotion Legged robots Linear quadratic regulator Parallel robots Rigid structures Rigid-body dynamics Robot kinematics Robots Robust control robust/adaptive control of robotic systems Robustness (mathematics) wheeled robots Wheels
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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