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Humanoid Robot Teleoperation for Nonprehensile Transportation: A Multiple-Constraint Safety-Critical Control Framework

This paper investigates the conflicting multiple constraints and safety challenges in humanoid robot teleoperation for nonprehensile transportation tasks. The robot’s complex workspace and high degrees of freedom frequently conflict with highly dynamic task requirements, imposing stringent demands o...

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Main Authors: Xinyang Fan, Fenglei Ni
Format: Artigo
Language:Inglês
Published: MDPI AG 2026-06-01
Series:Machines
Subjects:
humanoid robots
nonprehensile transportation
teleoperation
multiple constraints
safety-critical
hierarchical control
Online Access:https://www.mdpi.com/2075-1702/14/6/637
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