This video presents "LQRAssisted WholeBody Control of a Wheeled Bipedal Robot with Kinematic Loops" published in the IEEE Robotics and Automation Letters (RAL) and presented at the virtual 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.

Abstract — We present a hierarchical wholebody controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closedform 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 nonminimum phase balancing dynamics are accounted for by including a linearquadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zeromoment point. The proposed controller is computationally lightweight and significantly extends the roughterrain capabilities and robustness of the system, as we demonstrate in several experiments.

paper: https://www.ascento.ethz.ch/wpconten...
paper video:    • LQRAssisted WholeBody Control of a ...  
project website: https://www.ascento.ethz.ch
DOI: 10.1109/LRA.2020.2979625

Chapters:
0:00 Introduction
0:30 Motivation
1:37 Modeling
3:07 Control
5:35 Balancing Robustness Experiment
5:59 Adaptive Legs Experiment
6:19 Curve Leaning Experiment
6:50 Indoor Parkour
7:12 Disturbance Rejection
7:35 Terrain Driving
7:46 More Info