Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

@article{Rouxel2022MulticontactMR,
  title={Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium},
  author={Quentin Rouxel and Kai Yuan and Ruoshi Wen and Zhibin Li},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2022},
  volume={27},
  pages={4188-4198}
}
This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces… 
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