Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control
Kazuki Fukazawa,Naoki Hiraoka,Kunio Kojima,Shintaro Noda,Masahiro Bando,Kei Okada,Masayuki Inaba,Kazuki Fukazawa,Naoki Hiraoka,Kunio Kojima,Shintaro Noda,Masahiro Bando,Kei Okada,Masayuki Inaba
Humanoid robots are expected to play a big role at distress sites and disaster sites. There is a variety of multi-contact locomotion forms other than bipedal walking such as crawling through tightly, getting on the rubble by using its knees and elbows, or jumping in and rolling over the obstacles. If such multi-contact locomotion forms can be achieved, robots can reach environments that are curren...
