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cs.RO2025
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
Tianyu Wang, Chunxiang Yan, Xuanhong Liao +6
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or…
cs.RO2025
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
Cong Wen, Yunfei Li, Kexin Liu +6
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restrictin…
cs.RO2024
DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints
Dingchuan Liu, Fangfang Yang, Xuanhong Liao +1
Wheeled bipedal robots offer the advantages of both wheeled and legged robots, combining the ability to traverse a wide range of terrains and environments with high efficiency. How…