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Stéphane.CaronUniversity.of.Tokyo
Yoshihiko:NakamuraUniversity:of:Tokyo
Quang‐Cuong.PhamNanyang.Technological.University
Motivation
Reduction(to(a(discrete(vector(field
Back(to(Questions
Simulation(Experiment
Wrench(Cone((((for(Rectangular(Surfaces
Coulomb(Friction(G2D(exampleI
Positional(constraint:
Complementarity(between(accelerationsand(forces:(contact(modes
Fixed:
Sliding:
Poster:design:by:Felix:9reuer:—:License):Creative:Commons:8ttributionDShare8like:qGw:Unported
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Limbed.robots.need.to.use.contacts.to.locomote.
Questions
Will.a.contact.hold.when.executing.a.motion?
How.to.make.the.best.use.of.one.contact?
How.to.change.stance.Gset.of.contactsI?
Combining(Contacts(atthe(Gravito‐Inertial(Wrench
Definition:of:the:GI:wrench)
We:can:show:from:the:Equation:of:Motion:that)
Cone:Duality
ww)ww ww)w( ww)WE ww)Ew ww)Ew ww)EW
ww)qqww)qW:ww)Ezww)Eqww)EEww)EW
Stepping:on:a:box:using:a:E5o:tilted:plane:and:a:W:m:ledge
No:solution:using:staticallyDstable:configurations
Found:a:dynamic:solution:with:TimeDOptimal:Path:ParamG
contrib
ution
Local:.a.contact.holds.by.CWC
Whole‐body:.all.contacts.hold.by.GIWC
How.to.change.stance.Gset.of.contactsI?
Autonomous.discovery.of.locomotion.trajectories?
contribution
a:linkin:surface
contact
Continuous:stressDpressure:field:
Resultant:wrench)
Equivalent:generator:using:barycentring:coordinates)
Input:constraints)
Reduction:of:the:polyedral:convex:cone:pFourierDMotzkin1:yields:three:conditions)
WG:Coulomb:frictionon:the:resultant:force
EG:CoP:inside:the:support:area
qG:8:new:conditionon:the:resultant:yaw:torque
[to:appear:at:ICR8:EwW5]
a:continuum:of:stressand:pressure:fields
an:equivalentand:discrete
force:field
minimumdimension):one
wrench
wholeDbodymultiDcontact
planning
[Hirukawa:et:alG?:ICR8:EwwO][Ramos:et:alG?:Humanoids:EwWE][Saad:et:alG?:TRO:EwWq][Escande:et:alG?:R8S:EwWq][Hauser?:IJRR:EwWM][8udren:et:alG?:IROS:EwWM]
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