Abstract
We propose a hierarchical control framework to address severe dynamic instabilities and navigational drift that arise when a two-wheeled inverted pendulum (TWIP) robot attempts asymmetric object manipulation. While two-wheeled platforms are highly manoeuvrable, their constant balancing adjustments make onboard odometry highly unreliable for precise navigation. Furthermore, the addition of a side-mounted robotic arm introduces unactuated lateral roll moments when a payload is lifted, a challenge heavily compounded on uneven terrain. To solve these coupled problems, our architecture divides the workload. An offboard vision system tracks overhead ArUco markers to provide high-latency global waypoint navigation, bypassing odometry drift. Simultaneously, a low-latency onboard control loop rejects active physical disturbances using inertial and encoder data. In our physical experiments, this dual-loop approach enabled the custom-built robot to navigate accurately, reject transient impacts from speed bumps, adapt to a dynamic seesaw ramp, and carry a payload securely without falling over its narrow wheelbase.
Keywords
Publication details
- Journal
- Not available
- Open access
- Green open access
Cite this article
APA 7
Chatterjee, A., & Kumari, A. (2026). LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots. https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots
MLA 9
Chatterjee, Anupam, and Arpita Kumari. "LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots." https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots.
Chicago (author–date)
Chatterjee, Anupam, and Arpita Kumari. 2026. "LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots." https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots.
Harvard
Chatterjee, A. and Kumari, A. (2026) 'LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots', Available at: https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots.
Vancouver
Chatterjee A, Kumari A. LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots. https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots
IEEE
A. Chatterjee, and A. Kumari, "LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots," https://omanscience.com/en/articles/lqr-aruco-fusion-robust-hierarchical-control-for-navigation-and-asymmetric-manipulation-in-two-wheeled-robots.