IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— When grasping an object, friction forces are sometimes utilized. Because of this friction forces, the object is manipulable to various direction. In this paper, we disc...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only ...