Perspective Chapter: Multi-Contact Humanoid Stability for Increased Interaction in Unstructured Environments

This paper presents a practical solution to the problem of multi-legged robot stability moving on unstructured 3D terrains using a multi-contact approach. The solution is based on a modified version of the contact wrench set method, which has been reformulated to utilize three arbitrary contact poin...

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Detalles Bibliográficos

Autores principales:	Dastangoo, Parastoo, Ramirez-Serrano, Alejandro
Formato:	Capítulo de libro
Lenguaje:	inglés
Publicado:	IntechOpen 2022
Materias:	Physical Sciences, Engineering and Technology
Acceso en línea:	https://www.intechopen.com/chapters/85469
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