19 citations · 58 across the 13 of their papers we have counts for
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cs.RO2018
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier
We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve…
cs.RO2018
Capturability-based Pattern Generation for Walking with Variable Height
Stéphane Caron, Adrien Escande, Leonardo Lanari +1
Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-h…