254 citations · 448 across the 14 of their papers we have counts for
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cs.RO2020★ 254 cited
Ascento: A Two-Wheeled Jumping Robot
Victor Klemm, Alessandro Morra, Ciro Salzmann +10
Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics. A system…
cs.RO2020★ 187 cited
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
Victor Klemm, Alessandro Morra, Lionel Gulich +5
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of…