ICRA'20 Presentation LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops

[@kyha4429]

Very detailed, but in the article, especially in the section about ground contact, how can the rotation matrix Riw be calculated using forward differential kinematics when I is fixed but W is moving? These two coordinate systems are not linked. I just wondering

[@expented]

seems to me inspired by the 80s "Mouser" invented by Dr. Baxter Stockman, haha! :) great job Alessandro

[@ServetEdu]

any plans to open-source your work, including mechanical drawings, electrical diagrams and software?

[@zeev]

7:48 makes me want to roller blade on one foot while skate-boarding .

[@davidmalawey]

Does Ascento have awareness of it's leg deflection? If so, to what resolution?

[@AscentoRobotics]

Yes! The joint encoders in the hip motors measure their rotation with a precision of ‹0.025° (17-bit encoders). This allows Ascento to directly calculate the extension of the corresponding leg linkage and thereof also the relative wheel positions.

[@archi2nd]

Love that little bot

[@MAtifAli]

that's very interesting work. Do you have a paper that shows detailed kinematics modelling?

[@legosam2067]

He deserves to be in Star Wars

[@Clever_Motel]

Already has the shape and function of a BD unit.

[@julast6658]

I would be interested in it for wheel chairs -

[@samhamsord7942]

I see one HUGE flow. You are doing great job at preventing it to ever tip over. But it will happen anyway sometimes. Wouldn't it be cool to have some additional system to put it back on wheels from whatever position?

[@victorklemm]

It's actually already able to do that! But that's not topic of this paper. Please have a look at our previous video: kzbin.info/www/bejne/m2K9c4F8q52enpI

[@crafter2u]

nice just needs hands now

[@herp_derpingson]

I dont like these QA style conference videos. Sounds unnatural.

[@DP-sq7lw]

Yeah, it sounds like two robots talking to each other.