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08/17/2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Loco-manipulation planning skills are pivotal for expanding the utility ...
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02/24/2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we present a real-time whole-body planner for collision-f...
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08/17/2021
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
When dealing with the haptic teleoperation of multi-limbed mobile manipu...
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04/23/2021
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Manipulators can be added to legged robots, allowing them to interact wi...
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03/01/2021
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
We present a reformulation of a contact-implicit optimization (CIO) appr...
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03/01/2021
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
In this paper, we propose a whole-body planning framework that unifies d...
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01/15/2021
