A wheeled-bipedal jumping model combined with Bayesian torque optimization reduces height error by 82.3% and energy cost by 26.9% in Webots simulation.
Lqr-assisted whole-body control of a wheeled bipedal robot with kinematic loops
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Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
A wheeled-bipedal jumping model combined with Bayesian torque optimization reduces height error by 82.3% and energy cost by 26.9% in Webots simulation.