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Humanoids locomote by making and breaking contacts with their environment. Thus, a crucial question for them is to anticipate whether a contact will hold or break under effort. For rigid surface contacts, existing methods usually consider several point-contact forces, which has some drawbacks due to the underlying redundancy. We derive a criterion, the Contact Wrench Cone (CWC), which is equivalent...
The identification method for industrial manipulators considering physical consistency such as positive definiteness of inertial parameters has been developed, however it has to solve the quadratic programming with the non-linear inequality constraints. In identifying the large DOF systems like humanoid robots, the converged solution is difficult to be obtained. In this paper, we propose the method...
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance...
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