ZMP support areas for multi-contact mobility under frictional constraints

12 Oct 2015Stéphane CaronQuang-Cuong PhamYoshihiko Nakamura

We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and (b) multiple non-coplanar contacts... (read more)

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