Ascento is a two-wheeled robot that can jump over obstacles. With this LQR-assisted whole-body control, the robot can overcome even more challenging environments. As the below video shows, the computationally lightweight controller proposed for this experiment can significantly extend the right-terrain capabilities of this robot.
More like this ➡️ here
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops (RA-L / ICRA 2020)
Ascento two-wheeled robot (2018 WORLD.MINDS Annual Symposium)
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