Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard
Jonathan Anglingdarma Ayush Agrawal Joshua Morey Koushil Sreenath Jonathan Anglingdarma Ayush Agrawal Joshua Morey Koushil Sreenath
This paper formulates a methodology to plan and control flat-terrain motions of an underactuated bipedal robot riding a snakeboard, which is a steerable variant of the skateboard. We use tools from non-holonomic motion planning to study snakeboard gaits and develop feedback control strategies that enable bipedal robots to produce the desired gaits while maintaining balance, regulating the magnitud...