23 citations · 35 across the 15 of their papers we have counts for
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cs.RO2018
Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on…
cs.RO2018★ 2 cited
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
Munzir Zafar, Akash Patel, Bogdan Vlahov +3
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique…