Quadruped robots are gaining attention in the research community because of their superior
mobility and versatility in a wide range of applications. However, they are restricted to …

Humanoid robots have the potential to help human workers by realizing physically
demanding manipulation tasks such as moving large boxes within warehouses. We define …

Cyber–physical systems (CPSs) are evolving from individual systems to collectives of
systems that collaborate to achieve highly complex goals, realizing a cyber–physical system …

The challenges posed by terrain-induced slippage for wheeled rovers traversing soft terrains
(eg lunar terrain) are critical to ensuring safe operation. Bilateral teleoperation systems …

The teleoperation of complex, kinematically redundant robots with loco-manipulation
capabilities represents a challenge for human operators, who have to learn how to operate …

Recent progress in legged locomotion has rendered quadruped manipulators a promising
solution for performing tasks that require both mobility and manipulation (loco-manipulation) …

Robot-mediated physical interaction between humans, or physical Human-Robot-Human
Interaction (pHRHI for short) can transcend the physical constraints associated with direct …

This article presents a hierarchical model predictive control (MPC) framework for the end-
effector tracking control problem of a legged mobile manipulator. In the high-level part, a …

Quadruped robots have gained significant attention in the scientific community due to their
ability to navigate through unstructured terrains. However, these robots are limited to tasks …

Abstract Model Predictive Control (MPC) is becoming a popular control method for
teleoperation due to its ability to ensure safety constraints. However, tuning MPC is a non …