Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled Inverted Pendulum Robots
2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 3967-3973, 2020.
Riemannian Motion Policies (RMPs) have recently been introduced as a way to specify second-order motion policies defined on robot task spaces. RMP-based approaches have the advantage of being more general than traditional approaches based on operational space control; for example, the generalized task inertia in an RMP can be fully state-...More
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