# Balance Control Method for Bipedal Wheel-Legged Robots Based on Friction Feedforward Linear Quadratic Regulator

> Research article (Sensors, 2025) · cited 10× · AI/ML

**Wikidata**: [openalex:W4407374759](https://www.wikidata.org/wiki/openalex:W4407374759)  
**Source**: https://4ort.xyz/entity/balance-control-method-for-bipedal-wheel-legged-robots-based-on-friction-feedforward-linear-quadratic-regulator