Humanoid robots, with their human-like skeletal structure, are especially suited for tasks in
human-centric environments. However, this structure is accompanied by additional …

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

In recent years, the field of legged robotics has seen growing interest in enhancing the
capabilities of these robots through the integration of articulated robotic arms. However …

This paper presents a novel approach for controlling humanoid robots to push heavy
objects. The approach combines kinodynamics-based pose optimization and loco …

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 …

Model-based controllers using a linearized model around the system's equilibrium point is a
common approach in the control of a wheeled humanoid due to their less computational …

This paper presents a novel approach for controlling humanoid robots to push heavy
objects. The approach combines kinodynamic pose optimization and loco-manipulation …

Research in quadrupedal robotics is transitioning to studies into loco-manipulation, featuring
fully articulated robotic arms mounted atop these robots. Integrating such arms enhances the …

Loco-manipulation calls for effective whole-body control and contact-rich interactions with
the object and the environment. Existing learning-based control frameworks rely on task …

Model-based controllers using a linearized model around the system's equilibrium point is a
common approach in the control of a wheeled humanoid due to their less computational …