Ramp Jump Attitude Control of Single-Track Two-Wheeled Robot Via Contact-Implicit Trajectory Optimization
2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)（2024）
关键词
Positive Control,Robot Control,Trajectory Optimization,Two-wheeled Robot,Contact-implicit Trajectory Optimization,Actuator,Slack Variables,Robot Dynamics,Optimization Problem,Contact Point,Rigid Body,Position Of Point,Proportional-integral-derivative,Vertical Plane,Pitch Angle,Complementary Models,Coulomb Friction,Rear Wheels,World Frame,Complementary Condition,Front Portion,Wheel Slip,Trajectory Optimization Problem,Torque Limits
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