High-Speed and Enhanced Motion Control for a Wheeled-Legged Humanoid Robot Using a Two-Wheeled Inverted Pendulum With Roll Joint
Wheeled-legged humanoid robots combine the mobility of wheels with the versatility of legs, offering significant advantages for locomotion. This paper proposes a hierarchical control framework for such robots, using a two-wheeled inverted pendulum with a roll joint (TWIP-R) as a template model. The...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10878993/ |
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