In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

The goal of this paper is to develop a unified online motion generation scheme for
quadruped lateral-sequence walk and trot gaits based on a linear model predictive control …

This paper proposes to integrate our prioritized impedance controller (PIC) into four kinds of
improved hierarchical operational-space torque-control frameworks: one pseudo-inverse …

In this paper, we propose a meaningful definition of rotational centroidal orientation which is
somewhat missed in the state-of-the-art centroidal momentum and dynamics theory for …

In recent years, the deployment of ground-based mobile robots has gained more and more
interest in various domains. In contrast to other types of mobile robots, legged robots can …

In recent years, the dynamics of walking robots was studied based on dangerous
environments. A more complete dynamic model is essential for the further of a practical …

This paper proposes a new whole-body motion generator for a quadruped-on-wheel robot
that can cross various rough terrains, especially with a much-altitude difference. The motion …