Abstract Purpose of Review Humanoid robots are versatile platforms with the potential to
assist humans in several domains, from education to healthcare, from entertainment to the …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

This article proposes a model predictive non-sliding manipulation (MPNSM) control
approach to safely transport an object on a tray-like end-effector of a robotic manipulator. For …

Robots with bimanual morphology usually possess higher flexibility, dexterity, and efficiency
than those only equipped with a single arm. The dual-arm structure has enabled robots to …

In this paper we consider the problem of allowing a humanoid robot that is subject to a
persistent disturbance, in the form of a payload-carrying task, to follow given planned …

Develo** sophisticated control architectures has endowed robots, particularly humanoid
robots, with numerous capabilities. However, tuning these architectures remains a …

Bimanual mobile manipulation significantly enhances the capabilities of field robots that
interact with diverse dynamic environments and expands the range of possible manipulation …

A crucial part of dynamic motions is the interaction with other objects or the environment.
Floating base robots have yet to perform these motions repeatably and reliably. Force torque …

The design of a control architecture for providing the desired motion along with the
realization of the joint limitation of a robotic system is still an open challenge in control and …

With advancements in the autonomy and capabilities of Unmanned Aerial Vehicles (UAVs),
their potential for complex operations such as infrastructure inspection, maintenance, and …