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Conference papers
Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots
Abstract : In this paper we provide hindsight on how to use the information provided by the explicit computation of the stability polygon and build on task-based QP controllers to achieve both stable multi-contact slow transitions and force limitation with a level of force control. This entails computing stability polygons with unilateral and bilateral contacts and devising a method to continuously constrain the CoM position throughout multi-contact motion in order to effectively regulate the forces applied on the environment while avoiding hard constraints on the CoM and discontinuity between stances.
Cited literature [20 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01256512
Contributor : Hervé Audren <>
Submitted on : Wednesday, October 12, 2016 - 10:48:31 AM
Last modification on : Thursday, March 18, 2021 - 7:26:04 PM
Long-term archiving on: : Saturday, February 4, 2017 - 7:42:29 PM
Contributor : Hervé Audren <>
Submitted on : Wednesday, October 12, 2016 - 10:48:31 AM
Last modification on : Thursday, March 18, 2021 - 7:26:04 PM
Long-term archiving on: : Saturday, February 4, 2017 - 7:42:29 PM
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ra_letters.pdf
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