Dynamic balance preservation and prevention of sliding for humanoid robots in the presence of multiple spatial contacts

Author:

Nikolić Milutin,Borovac Branislav,Raković Mirko

Funder

Ministarstvo Prosvete, Nauke i Tehnološkog Razvoja (RS)

Publisher

Springer Science and Business Media LLC

Subject

Control and Optimization,Computer Science Applications,Mechanical Engineering,Aerospace Engineering,Modeling and Simulation

Reference38 articles.

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2. Barber, C.B., Dobkin, D.P., Huhdanpaa, H.: The quickhull algorithm for convex hulls. ACM Trans. Math. Softw. 22(4), 469–483 (1996). doi: 10.1145/235815.235821

3. Caron, S., Pham, Q.C., Nakamura, Y.: Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. In: Robotics: Science and System (2015)

4. Caron, S., Pham, Q.C., Nakamura, Y.: Stability of surface contacts for humanoid robots: closed-form formulae of the contact wrench for rectangular support areas. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE Press, New York (2015)

5. Dai, H., Valenzuela, A., Tedrake, R.: Whole-body motion planning with centroidal dynamics and full kinematics. In: 2014 14th IEEE–RAS International Conference on Humanoid Robots (Humanoids), pp. 295–302 (2014). doi: 10.1109/HUMANOIDS.2014.7041375

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