We propose a locomotion framework for bipedal robots consisting of a new motion planning
method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole …

This paper proposes a novel Augmented Hierarchical Quadratic Programming (AHQP)
framework for multi-tasking control in Human–Robot Collaboration (HRC) which integrates …

Redundant degrees of freedom provide a feasible solution for robots to better interact with
environments, but it also leads to an increase in the complexity of kinematic and dynamic …

Future robots operating in fast-changing anthropomorphic environments need to be reactive,
safe, flexible, and intuitively use both arms (comparable to humans) to handle task-space …

Time-variant quadratic programming (QP) with multi-type constraints including equality,
inequality, and bound constraints is ubiquitous in practice. In the literature, there exist a few …

This paper proposes a novel design strategy and task‐priority‐based control methodology
for a robot to successfully complete a rescue operation in an extremely unstructured …

This paper introduces a reactive self-collision avoidance algorithm for differentially driven
mobile manipulators. The proposed method mainly focuses on self-collision between a …

Redundant manipulators are usually required to perform tasks in the operational space, but
collision-free path planning is computed in the configuration space. Limiting the deviation …

This paper presents practical enhancements of the operational space formulation (OSF) to
exploit inequality constraints for whole-body control of a high degree of freedom robot with a …

Today's robots are expected to fulfill different requirements originated from executing
complex tasks in uncertain environments, often in collaboration with humans. To deal with …