Recent studies on quadruped robots have focused on either locomotion or mobile
manipulation using a robotic arm. However, legged robots can manipulate large objects …

Legged robots have shown remarkable advantages in navigating uneven terrain. However,
realizing effective loco-motion and manipulation tasks on quadruped robots is still …

This letter presents a novel Adaptive-frequency MPC framework for bipedal locomotion over
terrain with uneven stepping stones. In detail, we intend to achieve adaptive gait periods …

Despite their remarkable advancement in locomotion and manipulation, humanoid robots
remain challenged by a lack of synchronized loco-manipulation control, hindering their full …

Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

Bipedal locomotion control is essential for humanoid robots to navigate complex, human-
centric environments. While optimization-based control designs are popular for integrating …

This paper proposes a novel control framework for agile and robust bipedal locomotion,
addressing model discrepancies between full-body and reduced-order models. Specifically …

For a forward-bending biped robot with 10 degrees of freedom on its legs, a new control
framework of MPC-DCM based on force and moment is proposed in this paper. Specifically …

Despite the potential benefits of collaborative robots, effective manipulation tasks with
quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control …

Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot
control. The choice of dynamic models in trajectory optimization (TO) problems plays a huge …