Hierarchical NMPC on a TRB model with hip-roll and multi-contact modes enables wheeled bipedal robots to perform scooting and lateral object sliding, shown in hardware for 1 kg retrieval and 4 kg sliding.
Dynamic loco- manipulation on HECTOR: Humanoid for enhanced control and open- source research,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
Hierarchical NMPC on a TRB model with hip-roll and multi-contact modes enables wheeled bipedal robots to perform scooting and lateral object sliding, shown in hardware for 1 kg retrieval and 4 kg sliding.