Increased Mobility in Presence of Multiple Contacts - Identifying Contact Configurations that Enable Arbitrary Acceleration of CoM

Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when contacts are spatially distributed should be considered. In thi...

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Hauptverfasser:	Nikolić, Milutin, Borovac, Branislav, Raković, Mirko, Žigić, Milica
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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