Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios
Saeid Samadi,Stéphane Caron,Arnaud Tanguy,Abderrahmane Kheddar,Saeid Samadi,Stéphane Caron,Arnaud Tanguy,Abderrahmane Kheddar
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (C...
