Jechan Jeon

Whole-Body Stabilization of Wheeled Bipedal Robots via Decoupled Control of Wheels and Legs

Wheeled-legged robots offer significant mobility advantages, yet their control is complicated by the coupled dynamics of the wheel and leg systems. To address this challenge, we propose a whole-body control framework built upon a decoupled architecture. In this structure, a two-wheeled inverted pend