Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

  title={Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots},
  author={Luis Sentis and Jaeheung Park and Oussama Khatib},
  journal={IEEE Transactions on Robotics},
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… CONTINUE READING
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