Publications

Hierarchical Control Framework for Collision-Free Collaborative Loco-manipulation of Large and Heavy Objects.

Rigo, Alberto, Junchao Ma, Nathan Chun, Satyandra K. Gupta and Quan Nguyen

2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)

Adapting Gait Frequency for Posture-Regulating Humanoid Pish-Recovery via Hierarchical Model Predictive Control

Li, Junheng, Zhanhao Le, Junchao Ma, and Quan Nguyen

2025 IEEE International Conference on Robotics and Automation (ICRA)

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains.

Li, Junheng, Ziwei Duan, Junchao Ma, and Quan Nguyen

Robotics: Science and Systems 2025

Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot

Rigo, Alberto, Muqun Hu, Junchao Ma, Satyandra K. Gupta, and Quan Nguyen

Journal of Mechanisms and Robotics

Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research

Li, Junheng, Junchao Ma, Omar Kolt, Manas Shah, and Quan Nguyen

arXiv preprint arXiv:2312.11868.

Balancing Control and Pose Optimization for wheel-legged Robots Navigating High Obstacles

Li, Junheng, Junchao Ma and Quan Nguyen

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)