Few things get me as excited as a road trip. It is one of the only experiences in life that I actually prepare for; ...

Abstract: Quadruped robots can perform various tasks across diverse terrains but face limitations due to the difficulty of interacting with environments. Adding manipulation capabilities allows these ...

Abstract: This article proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework ...