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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Arpita Kumari

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Preprint Sep 2026

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...

Anupama Chatterjee, Arpita Kumari · 0 citations

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