3 papers
cs.RO2025
Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +4
This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurat…
cs.RO2024
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
Lei Shi, Xinghua Yu, Cheng Zhou +6
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upp…
cs.RO2024
A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control
Lei Shi, Qichao Liu, Cheng Zhou +1
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Functio…