ZMP Support Areas for Multicontact Mobility Under Frictional Constraints


We propose a method for checking and enforcing multicontact stability based on the zero-tilting moment point (ZMP). The key to our development is the generalization of ZMP support areas to take into account: 1) frictional constraints and 2) multiple noncoplanar contacts. We introduce and investigate two kinds of ZMP support areas. First, we characterize and… (More)
DOI: 10.1109/TRO.2016.2623338

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