Published October 10, 2021
| Version v1
Conference paper
Open
Whole-Body Balancing Control of Two-Wheeled Humanoids
Description
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 applied to it a computed torque control approach.
To validate this control method, we report the experimental
results obtained on AlterEgo.