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Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis.
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Lawrence Perko · 2013
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Sim-to-real: Learning agile locomotion for quadruped robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, and Vincent Vanhoucke · 2018
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The mechanics and control of leaning to lift heavy objects with a dynamically stable mobile robot
Fabian Sonnleitner, Roberto Shu, and Ralph L Hollis · 2019
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Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, and Dieter Fox · 2019
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Fabio Ramos, Rafael Carvalhaes Possas, and Dieter Fox · 2019
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Benjamin Katz, Jared Di Carlo, and Sangbae Kim · 2019
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Lqr-assisted whole-body control of a wheeled bipedal robot with kinematic loops
Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel, Yvain de Viragh, and Roland Siegwart · 2020
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Underactuated motion planning and control for jumping with wheeled-bipedal robots
Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M Wensing, and Wei Zhang · 2020
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Online dynamic motion planning and control for wheeled biped robots
Songyan Xin and Sethu Vijayakumar · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Data-efficient domain randomization with bayesian optimization
Fabio Muratore, Christian Eilers, Michael Gienger, and Jan Peters · 2021
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Simgan: Hybrid simulator identification for domain adaptation via adversarial reinforcement learning
Yifeng Jiang, Tingnan Zhang, Daniel Ho, Yunfei Bai, C Karen Liu, Sergey Levine, and Jie Tan · 2021
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Hands-free telelocomotion of a wheeled humanoid
Amartya Purushottam, Yeongtae Jung, Kevin Murphy, Donghoon Baek, and Joao Ramos · 2022
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Hybrid lmc: Hybrid learning and model-based control for wheeled humanoid robot via ensemble deep reinforcement learning
Donghoon Baek, Amartya Purushottam, and Joao Ramos · 2022
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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Tunenet: One-shot residual tuning for system identification and sim-to-real robot task transfer
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Whole-body mpc and online gait sequence generation for wheeled-legged robots
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Dynamic mobile manipulation via whole-body bilateral teleoperation of a wheeled humanoid
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A study of shared-control with bilateral feedback for obstacle avoidance in whole-body telelocomotion of a wheeled humanoid
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Multi-contact mpc for dynamic loco-manipulation on humanoid robots
Junheng Li and Quan Nguyen · 2023
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Robust and versatile bipedal jumping control through reinforcement learning
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2023
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