Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled Inverted Pendulum Robots

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