Search Results for author: Stéphane Caron

Found 3 papers, 2 papers with code

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

no code implementations • 4 Mar 2021 • Saeid Samadi, Julien Roux, Arnaud Tanguy, Stéphane Caron, Abderrahmane Kheddar

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.

Robotics

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ZMP support areas for multi-contact mobility under frictional constraints

2 code implementations • 12 Oct 2015 • Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura

We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability.

Robotics

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Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas

1 code implementation • 20 Jan 2015 • Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura

Here we argue that the CWC can be explicitly computed without reference to individual contact forces, and give closed-form formulae in the case of rectangular surfaces -- which is of practical importance.

Robotics

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