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Author

Seongmin Hong

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Open access 2026

Balance-Constrained Recursive Inverse Kinematics for Task-Space Tracking of Two-Wheeled Legged Robots

Two-wheeled legged robots (TWLRs) combine high mobility with versatile whole-body motion capability. However, stable torso motion control remains challenging because of their underactuated wheeled inverted pendulum dynamics and closed-loop parallel mechanism structure, particularly under dynamic center-of-mass (CoM) va...

Minjik Kim, Seongmin Hong, Sangjoo Kwon · 0 citations

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