Article

Analysis of Inverted-Pendulum Dynamic Balance Control for a Wheel-Legged Quadruped Robot

The article derives the dynamics of a wheel-legged inverted pendulum and explains why the wheels must accelerate in the direction of the fall for a quadruped robot to stand on only its two rear wheels. It also analyzes the privileged-information design of an asymmetric actor-critic and tests the limits of four policies through cross-physics-engine experiments.

Part of the event: Analysis of Inverted Pendulum Balance Control for Wheel-Legged Quadruped Robots

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