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

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

23 May 2020

Alessandro Morra

Dominik Mannhart

Yvain de Viragh

Roland Siegwart

Papers citing "LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops"

7 / 7 papers shown

Title
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics Junewhee Ahn Jaesug Jung Yisoo Lee Hokyun Lee Sami Haddadin Jaeheung Park AI4CE 72 0 0 31 Dec 2024
Ascento: A Two-Wheeled Jumping Robot Victor Klemm Alessandro Morra Ciro Salzmann Florian Tschopp K. Bodie ... Corentin Pfister Marcus Vierneisel Florian Weber Robin Deuber Roland Siegwart 52 153 0 23 May 2020
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain Alexander Winkler Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 45 119 0 07 Apr 2019
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots Marko Bjelonic C. D. Bellicoso Yvain de Viragh Dhionis V. Sako F. Tresoldi Fabian Jenelten Marco Hutter 29 143 0 10 Sep 2018
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints Donghyun Kim Jaemin Lee Orion Campbell Hochul Hwang Luis Sentis 65 41 0 03 Jul 2018
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control Markus Giftthaler Michael Neunert M. Stäuble J. Buchli 44 58 0 12 Jan 2018
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics Alexander Herzog Ludovic Righetti F. Grimminger P. Pastor S. Schaal 53 149 0 09 May 2013