High-Speed and Enhanced Motion Control for a Wheeled-Legged Humanoid Robot Using a Two-Wheeled Inverted Pendulum With Roll Joint

Wheeled-legged humanoid robots combine the mobility of wheels with the versatility of legs, offering significant advantages for locomotion. This paper proposes a hierarchical control framework for such robots, using a two-wheeled inverted pendulum with a roll joint (TWIP-R) as a template model. The...

Deskribapen osoa

Xehetasun bibliografikoak

Egile Nagusiak:	Jaewoo An, Jun Young Kim, Myo-Taeg Lim, Yonghwan Oh
Formatua:	Artigo
Hizkuntza:	Inglês
Argitaratua:	IEEE 2025-01-01
Saila:	IEEE Access
Gaiak:	Optimal control two-wheeled inverted pendulum with roll joint wheeled-legged humanoid robot whole-body control
Sarrera elektronikoa:	https://ieeexplore.ieee.org/document/10878993/
Etiketak:	Etiketa erantsi Etiketarik gabe, Izan zaitez lehena erregistro honi etiketa jartzen!