Object manipulation in a multi-effector robot system
Proceedings of the 4th international symposium on Robotics Research
International Journal of Robotics Research
Control strategies for robots in contact
Control strategies for robots in contact
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
Testing Static Equilibrium for Legged Robots
IEEE Transactions on Robotics
A probabilistic framework for learning kinematic models of articulated objects
Journal of Artificial Intelligence Research
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
Reflexive stability control framework for humanoid robots
Autonomous Robots
Three-dimensional impact: energy-based modeling of tangential compliance
International Journal of Robotics Research
Optimal distribution of contact forces with inverse-dynamics control
International Journal of Robotics Research
Architecture of a cyberphysical avatar
Proceedings of the ACM/IEEE 4th International Conference on Cyber-Physical Systems
Robotics and Autonomous Systems
Generation of whole-body optimal dynamic multi-contact motions
International Journal of Robotics Research
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This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interactions between humanoid robots and the environment. The approach leverages the virtual-linkage model that provides a physical representation of the internal and CoM resultant forces with respect to reaction forces on the supporting surfaces. A grasp/contact matrix describing the complex interactions between contact forces and CoM behavior is developed. Based on this model, a new torque-based approach for the control of internal forces is suggested and illustrated on the asimo humanoid robot. The new controller is integrated into the framework for whole-body-prioritized multitasking, thus enabling the unified control of CoM maneuvers, operational tasks, and internal-force behavior. The grasp/contact matrix is also proposed to analyze and plan internal force and CoM control policies that comply with frictional properties of the links in contact.