Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel, Yvain de Viragh, Roland Siegwart. LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops. IEEE Robotics and Automation Letters, 5(2):3745-3752, 2020. [doi]
Abstract is missing.