Jo, Joonhee An, Jaewoo Lee, Yisoo Oh, Yonghwan 2024-01-12T02:46:10Z 2024-01-12T02:46:10Z 2023-09-14 2023-06 https://pubs.kist.re.kr/handle/201004/76437 In this paper, we present a novel approach for controlling the balance of a wheeled bipedal robot (WBR) by utilizing the robot's dynamics and constraints. Our method is based on a hierarchical optimization framework, where we first use a relative vector-based linear quadratic regulator (LQR) to overcome the non-holonomic nature of the wheeled robot system and synthesize sagittal and lateral motion for a given reference trajectory. To validate the effectiveness of our proposed method, we conduct several simulations and the results demonstrate that it achieves superior performance. English IEEE Whole-Body Balancing and Differential Driving Control using a Relative Vector-Based LQR to Address Non-Holonomy of a Wheel-Legged Robot Conference 10.1109/UR57808.2023.10202551 1 20th International Conference on Ubiquitous Robots (UR), pp.302 - 307 20th International Conference on Ubiquitous Robots (UR) 302 307 US Honolulu, HI 2023-06-25 2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR 001051003700051 2-s2.0-85169439855