LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops (RA-L / ICRA 2020)

This video accompanies "LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops" published in the IEEE Robotics and Automation Letters (RA-L) and presented at the virtual 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France. Abstract — 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. paper: https://www.ascento.ethz.ch/wp-conten... paper presentation video:    • ICRA'20 Presentation LQR-Assisted Whole-Bo...   project website: https://www.ascento.ethz.ch DOI: 10.1109/LRA.2020.2979625 Chapters: 0:00 Introduction 0:32 Control Tasks 1:15 Balancing Robustness Experiment 1:28 Adaptive Legs Experiment 1:39 Curve Driving Experiments 1:57 Indoor Parkour 2:19 Disturbance Rejection 2:37 Terrain Driving 2:48 More Info