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03/04/2021
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
In this letter, we propose a whole-body control strategy for humanoid ro...
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09/30/2019
Balance of Humanoid robot in Multi-contact and Sliding Scenarios
This study deals with the balance of humanoid or multi-legged robots in ...
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09/17/2019
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
The variable-height inverted pendulum (VHIP) model enables a new balanci...
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03/19/2019
Feasible Region: an Actuation-Aware Extension of the Support Region
In legged locomotion the support region is defined as the 2D horizontal ...
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09/19/2018
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
This paper considers dynamic stair climbing with the HRP-4 humanoid robo...
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01/22/2018
Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking
Capturability analysis of the linear inverted pendulum model (LIPM) enab...
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10/16/2012