  The deployment of robots in industrial and civil scenarios is a viable
solution to protect operators from danger and hazards. Shared autonomy is
paramount to enable remote control of complex systems such as legged robots,
allowing the operator to focus on the essential tasks instead of overly
detailed execution. To realize this, we propose a comprehensive control
framework for inspection and intervention using a legged robot and validate the
integration of multiple loco-manipulation algorithms optimised for improving
the remote operation. The proposed control offers 3 operation modes: fully
automated, semi-autonomous, and the haptic interface receiving onsite physical
interaction for assisting teleoperation. Our contribution is the design of a
QP-based semi-analytical whole-body control, which is the key to the various
task completion subject to internal and external constraints. We demonstrate
the versatility of the whole-body control in terms of decoupling tasks,
singularity tolerance and constraint satisfaction. We deploy our solution in
field trials and evaluate in an emergency setting by an E-stop while the robot
is clearing road barriers and traversing difficult terrains.
