13 citations · 17 across the 4 of their papers we have counts for
4 papers
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts
Julien Roux, Saeid Samadi, Eisoku Kuroiwa +2
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The fi…
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
Saeid Samadi, Julien Roux, Arnaud Tanguy +2
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balanc…
Balance of Humanoid robot in Multi-contact and Sliding Scenarios
Saeid Samadi, Stéphane Caron, Arnaud Tanguy +1
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 me…