44 citations · 48 across the 6 of their papers we have counts for
6 papers
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…
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…
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
Mohsen Sombolestan, Quan Nguyen
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings.…
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Mohsen Sombolestan, Quan Nguyen
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical con…
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
Mohsen Sombolestan, Quan Nguyen
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging…
Adaptive Force-based Control for Legged Robots
Mohsen Sombolestan, Yiyu Chen, Quan Nguyen
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robot…