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

Bruce Wingo
Bruce Wingo
Muhammad Murtaza
Muhammad Murtaza
Munzir Zafar
Munzir Zafar
Seth Hutchinson
Seth Hutchinson

2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 3967-3973, 2020.

Cited by: 1|Bibtex|Views3

Abstract:

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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