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Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou. Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids. In International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019. pages 7535-7542, IEEE, 2019. [doi]

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Munzir Zafar

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Seth Hutchinson

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Evangelos A. Theodorou

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