Multi-Body Controller

A robot comprising:

• an inverted pendulum body having a first end portion, a second end portion, and a plurality of joints;
• an arm coupled to the inverted pendulum body at a first joint of the plurality of joints, the arm comprising an end-effector configured to grasp an object;
• at least one leg having first and second ends, the first end coupled to the inverted pendulum body at a second joint of the plurality of joints;
• a drive wheel rotatably coupled to the second end of the at least one leg;
• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving steering commands to perform a given task within an environment about the robot;
• based on the received steering commands, generating a wheel torque for the drive wheel of the robot and a wheel axle force at the drive wheel of the robot, the wheel torque and the wheel axle force generated to perform the given task;
• receiving movement constraints indicating movement limitations for the robot;
• receiving manipulation inputs for the end-effector of the arm of the robot, the manipulation inputs configured to manipulate the arm of the robot to perform the given task;
• and
• for each joint of the plurality of joints, generating a corresponding joint torque configured to control the robot to perform the given task, the joint torque satisfying the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force;
• and
• controlling the robot to perform the given task using the joint torques generated for the plurality of joints.