2 papers
cs.RO2024
Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation
Mohsen Sombolestan, Quan Nguyen
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabiliti…
cs.RO2024
Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain
Mohsen Sombolestan, Quan Nguyen
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable lo…