Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 5, Issue 2, Pages 3745-3752Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2979625
Keywords
Legged robots; wheeled robots; parallel robots; dynamics; robust; adaptive control of robotic systems
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Funding
- Swiss National Science Foundation (SNF) through the National Centre of Competence in Research Robotics (NCCR Robotics)
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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 using a compact analytic solution based on rotation matrices. The non-minimum phase balancing dynamics are accounted for by including a linear-quadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zero-moment point. The proposed controller is computationally lightweight and significantly extends the rough-terrain capabilities and robustness of the system, as we demonstrate in several experiments.
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