19 citations · 58 across the 13 of their papers we have counts for
3 papers · 1 filter
Completeness of Randomized Kinodynamic Planners with State-based Steering
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
Probabilistic completeness is an important property in motion planning. Although it has been established with clear assumptions for geometric planners, the panorama of completeness…
ZMP support areas for multi-contact mobility under frictional constraints
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support…
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
Humanoid robots locomote by making and breaking contacts with their environment. A crucial problem is therefore to find precise criteria for a given contact to remain stable or to…