Preprint Open access
LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots
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 …