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

@article{Sentis2010CompliantCO,
  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},
  year={2010},
  volume={26},
  pages={483-501}
}
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
Highly Influential
This paper has highly influenced 10 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 296 citations. REVIEW CITATIONS
172 Citations
39 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 172 extracted citations

296 Citations

02040'11'13'15'17
Citations per Year
Semantic Scholar estimates that this publication has 296 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 39 references

Bridging the gap between semantic planning and continuous control for mobile manipulation using a graph-based world representation

  • R. Philippsen, N. Negati, L. Sentis
  • In Proceedings of the Workshop on Hybrid Control…
  • 2009
1 Excerpt

Collision / contact models for dynamic simulation and haptic interaction Synthesis and control of whole - body behaviors in humanoid systems

  • O. Khatib
  • 2007

Feebdack control of dynamic bipedal robt locomotion

  • E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, B. Morris
  • CRC Oress
  • 2007
1 Excerpt

Similar Papers

Loading similar papers…