19 citations · 58 across the 13 of their papers we have counts for
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cs.RO2019★ 4 cited
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…
cs.RO2019
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…
cs.RO2019
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…