LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops.
Victor KlemmAlessandro MorraLionel GulichDominik MannhartDavid RohrMina KamelYvain de ViraghRoland SiegwartPublished in: CoRR (2020)
Keyphrases
- humanoid robot
- mobile robot
- autonomous robots
- joint space
- inverted pendulum
- end effector
- motion planning
- robot control
- robot motion
- optimal control
- robot manipulators
- inverse kinematics
- robotic systems
- visual servoing
- robotic arm
- biped robot
- control system
- motion control
- kinematic model
- parallel robot
- human robot interaction
- multi modal
- legged robots
- vision system
- robot arm
- degrees of freedom
- control method
- control signals
- wheeled mobile robots
- control strategy
- force feedback
- path planning
- robot behavior
- human motion
- multi robot
- dc dc converter
- real robot
- control architecture
- force control
- trajectory planning
- robotic manipulator
- intelligent control
- sensory motor
- motor learning
- rough terrain
- dynamic environments
- home environment
- hand eye
- lower extremity