Quang Cuong Pham

Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics

We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC) as a general contact stability criterion (a ZMP for non-coplanar contacts). We show how to compute this wrench cone from the friction cones of contact forces by using an intermediate representation, the surface…