Online Dynamic Motion Planning and Control for Wheeled Biped Robots
Songyan Xin,Sethu Vijayakumar,Songyan Xin,Sethu Vijayakumar
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the ...
