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However, controlling these systems in real-world applications requires a highly functional teleoperation framework, capable of leveraging all utility of the robot to complete tasks. In this work, such a teleoperation framework is presented, where a wearable whole-body motion capture suit is integrated with a whole-body controller specialised for teleoperation and a set of teleoperation strategies that enable the control of all main frames of the robot along with additional functions. Within the whole-body controller, all tasks and constraints can be configured dynamically due to their modularity, hence enabling seamless transitions between each teleoperation strategy. As a result, this not only enables the realisation of trajectories outside the workspace without the whole-body controller but also the ability to complete tasks that would require an additional manipulator if just the gripper frames of the robot were controllable. To validate the presented framework, a set of real robot experiments have been completed to demonstrate all teleoperation strategies and analyse their proficiency.<\/jats:p>","DOI":"10.1007\/s10846-023-01866-7","type":"journal-article","created":{"date-parts":[[2023,7,11]],"date-time":"2023-07-11T12:01:50Z","timestamp":1689076910000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["High Utility Teleoperation Framework for Legged Manipulators Through Leveraging Whole-Body Control"],"prefix":"10.1007","volume":"108","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5759-2092","authenticated-orcid":false,"given":"Joseph","family":"Humphreys","sequence":"first","affiliation":[]},{"given":"Christopher","family":"Peers","sequence":"additional","affiliation":[]},{"given":"Jun","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yuhui","family":"Wan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6677-0855","authenticated-orcid":false,"given":"Chengxu","family":"Zhou","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,11]]},"reference":[{"issue":"3","key":"1866_CR1","doi-asserted-by":"publisher","first-page":"4688","DOI":"10.1109\/LRA.2021.3068908","volume":"6","author":"J-P Sleiman","year":"2021","unstructured":"Sleiman, J.-P., Farshidian, F., Minniti, M.V., Hutter, M.: A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. 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