Whole-Body Balancing Control of Two-Wheeled Humanoids

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.