{"id":"https://openalex.org/W7165150331","doi":"https://doi.org/10.48550/arxiv.2606.19233","title":"Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot","display_name":"Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot","publication_year":2026,"publication_date":"2026-06-17","ids":{"openalex":"https://openalex.org/W7165150331","doi":"https://doi.org/10.48550/arxiv.2606.19233"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.19233","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19233","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.19233","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138856932","display_name":"Yue Qin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qin, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009594686","display_name":"Yulun Zhuang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhuang, Yulun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138842859","display_name":"Zelin Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Zelin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5075177396","display_name":"Yanran Ding","orcid":"https://orcid.org/0000-0003-4959-1174"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Yanran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9473999738693237,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9473999738693237,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.016599999740719795,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.013500000350177288,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6991999745368958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6777999997138977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6682999730110168},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5777999758720398},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47859999537467957},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4708999991416931},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.450300008058548},{"id":"https://openalex.org/keywords/desk","display_name":"Desk","score":0.36970001459121704},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.35019999742507935},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3499000072479248}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6991999745368958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6777999997138977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6682999730110168},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5056999921798706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47859999537467957},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4708999991416931},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.450300008058548},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41940000653266907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3865000009536743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36980000138282776},{"id":"https://openalex.org/C2776545233","wikidata":"https://www.wikidata.org/wiki/Q1064858","display_name":"Desk","level":2,"score":0.36970001459121704},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35019999742507935},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3499000072479248},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3474999964237213},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.34470000863075256},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.33009999990463257},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30649998784065247},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.2849999964237213},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.2612000107765198},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2565999925136566},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2554999887943268},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.25519999861717224},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.19233","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19233","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.19233","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.19233","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7913824915885925,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,69],"letter,":[2],"we":[3],"present":[4],"a":[5,28,36,131,137,141,146],"hierarchical":[6],"control":[7],"framework":[8],"that":[9,44,103],"enables":[10],"wheeled":[11,22],"bipedal":[12],"robots":[13],"to":[14,83,99],"perform":[15],"planar":[16],"object":[17,89,134,144],"sliding":[18],"tasks":[19],"with":[20],"their":[21],"legs.":[23],"The":[24],"proposed":[25],"approach":[26],"formulates":[27],"nonlinear":[29],"model":[30,43],"predictive":[31],"controller":[32],"(NMPC)":[33],"based":[34],"on":[35],"reduced-order":[37],"three":[38],"rigid":[39],"bodies":[40],"(TRB)":[41],"dynamical":[42],"explicitly":[45],"accounts":[46],"for":[47,62],"the":[48,71,81,127],"hip":[49],"roll":[50],"degree":[51],"of":[52,148],"freedom":[53],"and":[54,65,77,88,116,139],"multiple":[55],"wheel-environment":[56],"contact":[57],"modes,":[58],"which":[59,126],"is":[60,97],"essential":[61],"lateral":[63,117],"stepping":[64],"pedipulation":[66,112],"tasks.":[67],"Within":[68],"framework,":[70],"NMPC":[72],"simultaneously":[73],"regulates":[74],"robot":[75,82,128],"locomotion":[76],"interaction":[78],"forces,":[79],"allowing":[80],"stably":[84],"execute":[85],"both":[86],"rolling":[87],"manipulation":[90],"behaviors.":[91],"A":[92],"trajectory-optimization-based":[93],"robot-object":[94],"motion":[95],"planner":[96],"developed":[98],"generate":[100],"reference":[101],"motions":[102],"incorporate":[104],"stick-slip":[105],"transitions":[106],"in":[107,125],"ground-object":[108],"contact.":[109],"Two":[110],"representative":[111],"motions,":[113],"namely":[114],"scooting":[115],"sliding,":[118],"are":[119],"validated":[120],"through":[121],"real-world":[122],"hardware":[123],"experiments,":[124],"successfully":[129],"retrieves":[130],"1":[132],"kg":[133,143],"from":[135],"under":[136],"desk":[138],"slides":[140],"4":[142],"over":[145],"distance":[147],"0.228":[149],"m":[150],"via":[151],"scooting.":[152]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-19T00:00:00"}
