Event
Analysis of Control Simulation for the Upkie Wheeled Bipedal Robot
1 reports · 1 sources
A technical article fully runs the control system of the Upkie wheeled bipedal robot entirely in simulation, explaining its hierarchical balance and steering architecture built on a wheeled inverted pendulum model and constrained predictive control, and covering scenarios such as standing in place, acceleration and deceleration, differential steering, push recovery, and instability boundaries.
Report timeline
- Simulation Analysis of Dynamic Balancing and Motion Control for the Upkie Wheeled Biped Robot
This article runs the Upkie wheeled biped robot's control system entirely in simulation, starting from the wheeled inverted pendulum model and constrained predictive control to explain the hierarchical structure of balancing and steering, and covering scenarios such as standing in place, acceleration and deceleration, differential steering, push recovery, and instability boundaries.
Guyuehome ·