Event
Analysis of Inverted Pendulum Balance Control for Wheel-Legged Quadruped Robots
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Gu Yue Ju published an article deriving the inverted pendulum dynamics of a wheel-legged quadruped robot, explaining why the wheels must be accelerated in the direction of tipping in order for the quadruped robot to stand using only its two rear wheels. The article also analyzes the privileged information design of an asymmetric actor-critic and tests the boundaries of four sets of policies through cross-physics-engine empirical measurements.
Report timeline
- 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.
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