2018/10/06 by Munzir Zafar, Zafar, Munzir, Seth Hutchinson +3
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Real-time simulation and control systems #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1810.03074
openalex publication_date 2018/10/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we present a whole-body control framework for Wheeled Inverted\nPendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically\nbalancing themselves on wheels. Characterized by several degrees of freedom,\nthey have the ability to perform several tasks simultaneously, such as\nbalancing, maintaining a body pose, controlling the gaze, lifting a load or\nmaintaining end-effector configuration in operation space. The problem of\nwhole-body control is to enable simultaneous performance of these tasks with\noptimal participation of all degrees of freedom at specified priorities for\neach objective. The control also has to obey constraint of angle and torque\nlimits on each joint. The proposed approach is hierarchical with a low level\ncontroller for body joints manipulation and a high-level controller that\ndefines center of mass (CoM) targets for the low-level controller to control\nzero dynamics of the system driving the wheels. The low-level controller plans\nfor shorter horizons while considering more complete dynamics of the system,\nwhile the high-level controller plans for longer horizon based on an\napproximate model of the robot for computational efficiency.\n