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cs.RO2023
Impact-Aware Multi-Contact Balance Criteria
Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intent…
cs.RO2020
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet +1
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically o…