Whole body control of wheeled inverted pendulum humanoids

dc.contributor.advisor Hutchinson, Seth
dc.contributor.author Zafar, Munzir
dc.contributor.committeeMember Theodorou, Evangelos A.
dc.contributor.committeeMember Boots, Byron E.
dc.contributor.committeeMember Christensen, Henrik I.
dc.contributor.committeeMember Romberg, Justin
dc.contributor.department Electrical and Computer Engineering
dc.date.accessioned 2019-08-21T13:52:29Z
dc.date.available 2019-08-21T13:52:29Z
dc.date.created 2019-08
dc.date.issued 2019-05-21
dc.date.submitted August 2019
dc.date.updated 2019-08-21T13:52:29Z
dc.description.abstract A framework for controlling a Wheeled Inverted Pendulum (WIP) Humanoid to perform useful interactions with the environment, while dynamically balancing itself on two wheels, was proposed. As humanoid platforms are characterized by several degrees of freedom, they have the ability to perform several tasks simultaneously, while obeying constraints on their motion and control. This problem is referred as Whole-Body Control in the wider humanoid literature. We develop a framework for whole-body control of WIP humanoids that can be applied directly on the physical robot, which means that it can be made robust to modeling errors. The proposed approach is hierarchical with a low level controller responsible for controlling the manipulator/body and a high-level controller that defines center of mass targets for the low-level controller to control zero dynamics of the system driving the wheels. The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the robot for computational efficiency.
dc.description.degree Ph.D.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/61739
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Whole body control
dc.subject Wheeled inverted pendulum
dc.subject Humanoids
dc.subject Hierarchical
dc.subject Optimization
dc.subject Operational space
dc.subject Model predictive control
dc.title Whole body control of wheeled inverted pendulum humanoids
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Hutchinson, Seth
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication df70eb91-c9a6-43b8-b3fe-80f42b7f5268
relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Doctoral
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
4.2 MB
Adobe Portable Document Format
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
3.86 KB
Plain Text