LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops (RA-L / ICRA 2020)

This video accompanies “Ascento: A Two-Wheeled Jumping Robot“ published in the IEEE Robotics and Automation Letters (RA-L) and presented at the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France. 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 to more complex systems. The rolling