13 citations · 13 across the 2 of their papers we have counts for
2 papers
cs.RO2021
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…
cs.RO2021★ 13 cited
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…