Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots
Marco Kanneworff,Tommaso Belvedere,Nicola Scianca,Filippo M. Smaldone,Leonardo Lanari,Giuseppe Oriolo,Marco Kanneworff,Tommaso Belvedere,Nicola Scianca,Filippo M. Smaldone,Leonardo Lanari,Giuseppe Oriolo
We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP systems is challenging because the successful execution of tasks is subordinate to the ability to maintain balance. Our feedback control approach relies both on partial feedback linearization and Model Predictive Control (MPC). The partial feedb...
