• Constrained Control
• Wheeled Humanoid
• Whole-Body Dynamic Control

Control of two-wheeled floating-base robots poses several challenges due to their unstable dynamics and the coupling between upper and lower body dynamics. The problem is often faced in the literature with methods based on linearized or simplified models that fail in exploiting the whole structure and dynamic capabilities of the platform in use.
The goal of this thesis is to find a whole-body dynamic control (called Inverse Dynamic Control) for a mobile wheeled unstable humanoid robot that takes into account the kinematic constraints between the robot and the environment and includes upper limb movement. The found control law is then tested on Ego, a wheeled humanoid developed by the Centro di Ricerca ”Enrico Piaggio”, University of Pisa, where the thesis was carried out.