Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction*
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DOI: 10.1080/01691864.2020.1838321
Abstract: In this paper, we propose a generic method of online motion generation and control that realizes quasi-static multi-contact motion for real position-controlled humanoids. The proposed system calculates command joint angle online by prioritized inverse kinematics… read more here.
Keywords: motion; control; position; contact ... See more keywords