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Abstract
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 frame-work 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 under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.
Original language | English |
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Title of host publication | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 3892 - 3899 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-7281-6212-6 |
ISBN (Print) | 978-1-7281-6213-3 |
DOIs | |
Publication status | Published - 10 Feb 2021 |
Event | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html |
Publication series
Name | |
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Publisher | IEEE |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Abbreviated title | IROS 2020 |
Country/Territory | United States |
City | Las Vegas |
Period | 25/10/20 → 29/10/20 |
Internet address |
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