Feedback Whole-Body Control of Wheeled Inverted Pendulum Humanoids Using Operational Space
Muhammad Ali Murtaza,Vahid Azimi,Seth Hutchinson,Muhammad Ali Murtaza,Vahid Azimi,Seth Hutchinson
We present a hierarchical framework for trajectory optimization and optimal feedback whole-body control of wheeled inverted pendulum (WIP) humanoid robot. The framework extends rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) to operational space for controlling WIP humanoid robots while utilizing a hierarchical framework to compute an optimal policy. The upper level of the h...
