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
Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning
Lei Shi, Qichao Liu, Cheng Zhou +4
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the persp…