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

Bruce Wingo, Ching-An Cheng, Muhammad Murtaza, Munzir Zafar, Seth Hutchinson. Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled-Inverted-Pendulum Robots. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, May 31 - August 31, 2020. pages 3967-3973, IEEE, 2020. [doi]

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