Compliant control of multicontact and center-of-mass behaviors in humanoid robots

IEEE Transactions on Robotics

Volumn 26, Issue 3, 2010, Pages 483-501

  Sentis, Luis ^a   Park, Jaeheung ^b   Khatib, Oussama ^c  

^a The University of Texas at Austin   (United States)

^b Seoul National University   (South Korea)

^c Stanford University   (United States)

Author keywords

Humanoid robots; Multicontact behaviors; Prioritized control

Indexed keywords

CENTER-OF-MASS; COMPLEX INTERACTION; CONTACT FORCES; CONTROL POLICY; FORCE BEHAVIOR; FRICTIONAL PROPERTIES; HUMANOID ROBOT; INTERNAL FORCES; MATRIX; MULTI-CONTACT; MULTICONTACT BEHAVIORS; OPERATIONAL TASKS; REACTION FORCES; RESULTANT FORCES; SUPPORTING SURFACES; TORQUE-BASED; UNIFIED CONTROL; WHOLE-BODY;

SPACECRAFT PROPULSION;

ANTHROPOMORPHIC ROBOTS;

EID: 77953230060     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2043757     Document Type: Article

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