Whole-Body Balancing Control of Two-Wheeled Humanoids

Grazia Zambella, Gianluca Lentini, Manolo Garabini, Giorgio Grioli, Manuel Giuseppe Catalano, Alessandro Palleschi, Lucia Pallottino, Antonio Bicchi, Alessandro Settimi, Danilo Caporale
2021 Zenodo  
Control of two-wheeled humanoid robots poses several challenges due to the unstable dynamics of their mobile base and the coupling between upper and lower body dynamics. In this work, we present the latest results of our research on control of two-wheeled unstable humanoid robots. In particular, we present a whole-body dynamic control approach to stabilize this kind of robots around the upward position. We consider the nominal constrained dynamics of the robot in the quasi- velocities and
more » ... d to it a computed torque control approach. To validate this control method, we report the experimental results obtained on AlterEgo.
doi:10.5281/zenodo.6367957 fatcat:yomo5tvkozc5rbq3buo2jtg6j4