3 accepted papers
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object pro…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective loco-motion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally unknown to the robot in these problems. Therefore, this pape…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and robust locomotion. In this paper, we present a novel adaptiv…