Robotics: Science and Systems XI

Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics

Stephane Caron, Quang Cuong Pham, Yoshihiko Nakamura

Abstract:

We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC) as a general contact stability criterion (a ZMP for non-coplanar contacts). We show how to compute this wrench cone from the friction cones of contact forces by using an intermediate representation, the surface contact wrench cone, which is the minimal representation of contact stability for each surface contact. The observation that the GIWC needs to be computed only once per stance leads to particularly efficient algorithms, as we illustrate in two important problems for humanoids: testing robust static equilibrium and time-optimal path parameterization. We show, through theoretical analysis and in physical simulations, that our method is more general and/or outperforms existing ones.

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Bibtex:

  
@INPROCEEDINGS{Caron-RSS-15, 
    AUTHOR    = {Stephane Caron AND Quang Cuong Pham AND Yoshihiko Nakamura}, 
    TITLE     = {Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2015}, 
    ADDRESS   = {Rome, Italy}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2015.XI.028} 
}