LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops.
Victor KlemmAlessandro MorraLionel GulichDominik MannhartDavid RohrMina KamelYvain de ViraghRoland SiegwartPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- humanoid robot
- mobile robot
- autonomous robots
- joint space
- inverted pendulum
- end effector
- closed loop
- wheeled mobile robots
- robot control
- optimal control
- trajectory tracking
- robot motion
- motion planning
- motion control
- hand eye
- robot manipulators
- inverse kinematics
- visual servoing
- path planning
- robotic systems
- multi modal
- control signals
- kinematic model
- robot behavior
- human robot interaction
- parallel robot
- control system
- legged robots
- sagittal plane
- control loop
- robotic arm
- degrees of freedom
- bio inspired
- physical constraints
- human motion
- mechanical systems
- dynamic environments
- obstacle avoidance
- configuration space
- control method
- dc dc converter
- walking speed
- dynamic programming
- nonlinear systems
- vision system
- skill learning
- control architecture
- sliding mode
- robot arm
- sensory motor
- robotic manipulator