LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with
Kinematic Loops

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops

23 May 2020

Alessandro Morra

Dominik Mannhart

Yvain de Viragh

Roland Siegwart

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Papers citing "LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops"

16 / 16 papers shown

Title
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control Tianyu Wang C. Yan Xuanhong Liao Tao Zhang Ping Wang Cong Wen Dingchuan Liu Haowen Yu Ximin Lyu 44 0 0 24 Nov 2025
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot Cong Wen Y. Li Kexin Liu Yixin Qiu Xuanhong Liao Tianyu Wang Dingchuan Liu Tao Zhang Ximin Lyu 25 0 0 09 Nov 2025
FLORES: A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability Zhicheng Song Jinglan Xu Chunxin Zheng Yulin Li Zhihai Bi Jun Ma LLMSV 82 1 0 30 Jul 2025
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics Junewhee Ahn Jaesug Jung Yisoo Lee Hokyun Lee Sami Haddadin Jaeheung Park AI4CE 207 0 0 31 Dec 2024
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer Qianzhong Chen Junheng Li Sheng Cheng N. Hovakimyan Quan Nguyen 218 1 0 24 Sep 2024
Friction-Aware Safety Locomotion for Wheeled-legged Robots using Vision Language Models and Reinforcement Learning Bo Peng D. Baek Qijie Wang Joao Ramos 234 0 0 15 Sep 2024
DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints Dingchuan Liu Fangfang Yang Xuanhong Liao Ximin Lyu 114 9 0 31 Jul 2024
Real-to-Sim Adaptation via High-Fidelity Simulation to Control a Wheeled-Humanoid Robot with Unknown Dynamics D. Baek Youngwoo Sim Amartya Purushottam Saurabh Gupta Joao Ramos 88 0 0 16 Mar 2024
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots Simon Chamorro Victor Klemm M. I. Valls Christopher Pal Roland Siegwart 160 18 0 09 Feb 2024
Sampling-Based Motion Planning: A Comparative Review A. Orthey Constantinos Chamzas Lydia E. Kavraki 236 115 0 22 Sep 2023
Design and Control of a Bio-inspired Wheeled Bipedal RobotIEEE/ASME transactions on mechatronics (IEEE/ASME Trans. Mechatronics), 2023 Hai Zhao Leitao Yu S. Qin Yurui Jin Yuqing Chen 179 8 0 25 Aug 2023
Robust Task-Space Quadratic Programming for Kinematic-Controlled RobotsIEEE Transactions on robotics (TRO), 2023 Mohamed Djeha P. Gergondet A. Kheddar 106 10 0 27 Jul 2023
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement LearningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 D. Baek Amartya Purushottam Joao Ramos 144 14 0 07 Apr 2022
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles Junheng Li Junchao Ma Quan Nguyen 175 15 0 21 Sep 2021
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot Jiajun Wang Gang Han Xiaozhu Ju Mingguo Zhao 111 2 0 15 Sep 2021
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal RobotsIEEE Robotics and Automation Letters (RA-L), 2020 Hua Chen Bingheng Wang Zejun Hong Cong Shen Patrick M. Wensing Wei Zhang 162 76 0 11 Dec 2020