13 citations · 17 across the 2 of their papers we have counts for
4 papers · 1 filter
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…
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
Stéphane Caron
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We pro…
Feasible Region: an Actuation-Aware Extension of the Support Region
Romeo Orsolino, Michele Focchi, Stéphane Caron +3
In legged locomotion the projection of the robot Center of Mass (CoM) being inside the convex hull of the contact points is a commonly accepted sufficient condition to achieve stat…