A new optimization based approach for push recovery in case of multiple noncoplanar contacts

This paper presents a new approach for humanoid push recovery in a generalized noncoplanar multicontact context. Our approach is based on a simplified model and consists in stabilizing the perturbed system while maintaining fixed contacts with the environment or by changing a contact configuration w...

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Bibliographische Detailangaben

Hauptverfasser:	Mansour, Darine, Micaelli, Alain, Escande, Adrien, Lemerle, Pierre
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computational modeling Equations Force Friction Mathematical model Stability analysis Vectors
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