{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T18:20:57Z","timestamp":1783966857127,"version":"3.55.0"},"reference-count":36,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T00:00:00Z","timestamp":1769990400000},"content-version":"unspecified","delay-in-days":32,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Currently, quadruped robots are widely used in diverse scenarios due to their high mobility, creating a demand for more advanced interaction capabilities. This study proposes a whole-body planning and control framework that integrates adaptive control into a hierarchical model predictive control (MPC) and whole-body control (WBC) structure, enhancing the environmental adaptability and interaction performance of quadruped mobile manipulators. Key innovations include: a recursive least squares and feedforward compensation strategy for accurate end-effector force estimation; relaxed barrier functions embedded in the MPC to combine dynamic obstacle avoidance with adaptive control; and a WBC-based priority hierarchy to enforce critical constraints. Validated in Gazebo simulation and on the B1-Z1 platform, the method allows the robot to handle unknown loads up to 3 kg and maintain tracking errors under 2 cm despite 35 N external disturbances. It also demonstrates strong adaptability in non-uniform object transportation, providing a reliable solution for unstructured environments.<\/jats:p>","DOI":"10.1017\/s0263574725103044","type":"journal-article","created":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T15:12:22Z","timestamp":1770045142000},"page":"195-209","source":"Crossref","is-referenced-by-count":1,"title":["Load-adaptive control for quadruped mobile manipulation platforms"],"prefix":"10.1017","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-8198-3807","authenticated-orcid":false,"given":"Zeyu","family":"Cai","sequence":"first","affiliation":[{"name":"Zhejiang Sci-Tech University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruipeng","family":"Cai","sequence":"additional","affiliation":[{"name":"Zhejiang Sci-Tech University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhentao","family":"Xie","sequence":"additional","affiliation":[{"name":"Zhejiang Sci-Tech University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ning","family":"Huang","sequence":"additional","affiliation":[{"name":"Zhejiang Sci-Tech University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qinchuan","family":"Li","sequence":"additional","affiliation":[{"name":"Zhejiang Sci-Tech University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,2,2]]},"reference":[{"key":"S0263574725103044_ref33","doi-asserted-by":"crossref","unstructured":"[33] Sleiman, J.-P. , Farshidian, F. and Hutter, M. , Constraint handling in continuous-time ddp-based model predictive control. 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