Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs
2023 21st International Conference on Advanced Robotics (ICAR)（2023）
Key words
Stepper Motor,Motion Generation,Roll Joint,Friction,Agility,Roll Angle,Support Phase,Model-free Reinforcement Learning,Inverted Pendulum,Inverted Pendulum Model,Dynamical,Contact Point,Sagittal Plane,Coronal Plane,Force Generation,Hip Joint,Joint Angles,Model-based Methods,Contact Conditions,Position Of The Robot,Number Of Contact Points,Energy Injection,Model-based Control,Speed Bumps,Real Robot,Robot State,Potential Energy Function,Stance Leg,Joint Trajectories,Inverse Kinematics
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