Lionel Gulich — accepted AI-conference papers

2020

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops

Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel +2

RA-L 2020

We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated us

Cited by 160 Source ↗Scholar ↗

2019

Ascento: A Two-Wheeled Jumping Robot

Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich +7

ICRA 2019poster

Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system with these specifications would be of great use for a wide range of indoor inspection tasks. This paper introduces Ascen…

Cited by 257 Source ↗Scholar ↗