Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Volumn , Issue , 2007, Pages 81-88

  Collette, Cyrille ^a   Micaelli, Alain ^a   Andriot, Claude ^a   Lemerle, Pierre ^b  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b INSTITUT NATIONAL DE RECHERCHE ET DE SÉCURITÉ   (France)

Author keywords

Dynamic balance control; Friction; Grasp control; Humanoid robot motion; Multiple non coplanar contacts

Indexed keywords

ANTHROPOMORPHIC ROBOTS; QUADRATIC PROGRAMMING;

DYNAMIC BALANCE; EXTERNAL DISTURBANCES; FRICTIONAL CONTACT; GRASP CONTROLS; HUMANOID ROBOT; JOINT TORQUE CONTROL; NON-COPLANAR; QUADRATIC MINIMIZATION;

FRICTION;

EID: 67649729536     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2007.4813852     Document Type: Conference Paper

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