3 accepted papers
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion generation and the difficulty of measuring broad-area contact. We the
In this letter, we propose a controller for legged robots that takes into account the individual contact compliance. This controller is able to achieve both balance stabilization and force control in the same loop in task space thanks to the use of an explicit contact flexibility model and simplifie
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is essential. We develop a method to realize such whole-body multi-con