Controlling Fast Height Variation of an Actively Articulated Wheeled Humanoid Robot Using Center of Mass Trajectory
Moyin V. Otubela,Conor McGinn,Moyin V. Otubela,Conor McGinn
Hybrid wheel-legged robots have begun to demonstrate the ability to adapt to complex terrain traditionally inaccessible to purely wheeled morphologies. Further research is needed into how their dynamics can be optimally controlled for developing highly adaptive behaviours on challenging terrain. Using optimal center of mass (COM) kinematic trajectories, this work examines the nonlinear dynamics co...
