Saeid Samadi — accepted AI-conference papers

2021

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

Saeid Samadi, Julien Roux, Arnaud Tanguy, Stéphane Caron, Abderrahmane Kheddar

RA-L 2021

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the C

Cited by 10 Source ↗Scholar ↗

2020

Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios

Saeid Samadi, Stéphane Caron, Arnaud Tanguy, Abderrahmane Kheddar

ICRA 2020poster

This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based…

Cited by 14 Source ↗Scholar ↗