Fig. 4: Interactive MR control for legged locomotion and reconfiguration.

a, b A tripod consisting of four Mori3 modules was controlled by a user interacting with a matching JoJo structure. The blue triangles represent the dynamic shape changes of the support polygon, as controlled by the operator. c, d Additional constraints were set, preventing the CoM of the robot from approaching the edges of the support polygon by less than 4 cm. Without the optimization, the robot would topple as a result of following directly the operator commands. Two Roombot modules are remotely controlled (e) to approach an out-of-reach end-effector target (f). The operator brings two JoJos together, which then form a contact constraint and establish a physical connection between modules. The distance between two frames of the newly created contact constraint remains zero (g) while the system joints targets are changed to achieve a far-reaching task (h).