Humanoid Robot Friction Estimation in Multi-Contact Scenarios
This paper will present an online approach for friction approximation to be utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during mul...
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| Format: | Others |
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Virginia Tech
2017
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| Online Access: | http://hdl.handle.net/10919/78716 |