2019
Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate
RA-L 2019
In this letter, we propose a three-dimensional (3-D) walking and skating motion generation method to achieve sequential walking and skating motion with skateboard and roller skate. For generating the sequential stable skating motion using a passive wheel, we must deal with non-coplanar contacts with