Loco-Manipulation & Physical Interaction

I develop mobile and legged manipulation systems that combine a large reachable workspace with accurate, safe physical interaction. My interests include whole-body control, interaction-force control, deformable-object manipulation, and multifunctional or compliant appendages.

Selected Publications

Shared Object Manipulation with a Team of Collaborative Quadrupeds

Accepted to ACC 2026; arXiv, 2025

A Dexterity and Exploration Enhanced Quadruped Robot With a Multi-Functional Retractable Variable Stiffness Manipulator

IEEE/ASME Transactions on Mechatronics, 2025

Bio-Inspired Soft Variable-Stiffness Prehensile Tail Enabling Versatile Grasping and Enhancing Dynamic Mobility

IEEE Robotics and Automation Letters, 2025

Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study

IEEE CASE, 2023

Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming

IEEE ICRA, 2023