A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot
Francesco Ruscelli,Matteo Parigi Polverini,Arturo Laurenzi,Enrico Mingo Hoffman,Nikos G. Tsagarakis,Francesco Ruscelli,Matteo Parigi Polverini,Arturo Laurenzi,Enrico Mingo Hoffman,Nikos G. Tsagarakis
This paper presents a framework providing a full pipeline to execute a complex physical interaction behaviour of a humanoid bipedal robot, both from a theoretical and a practical standpoint. Building from a multi-contact control architecture that combines contact planning and reactive force distribution capabilities, the main contribution of this work consists in the integration of a sample-based ...
