2022
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots
Marco Kanneworff, Tommaso Belvedere, Nicola Scianca, Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo
ICRA 2022poster
We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP systems is challenging because the successful execution of tasks is subordinate to the ability to maintain balance. Our feedback control approach…