In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact
settings that enables switching between fixed and sliding contacts under active balance. We …

This study deals with the balance of humanoid or multi-legged robots in a multi-contact
setting where a chosen subset of contacts is undergoing desired sliding-task motions. One …

This paper presents a method for generating a turning motion in a humanoid robot by
allowing the feet of the robot to slip on the ground. As humans, we exploit the fact that our …

In situations where humanoid robots with constrained posture walk through a narrow space
(eg manufacturing plants and kitchens), shuffling motions that are stepless and possess …

In this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First,
the dynamics of a biped robot based on feet-slip are derived using the coulomb friction …

A novel slide-steer gait is proposed to enable a humanoid to adjust its orientation in extreme
environments. The proposed gait uses the thrust of a ducted fan to make the robot steer a …

Recent studies have explored humanoid robots in contact with the environment in various
ways. However, many of them assumed static rather than sliding contacts. Studies on …

In this paper, we propose two methods for a highly stable sliding walk for humanoid robots
working in narrow areas under constrained postures. The first method uses a new …

This paper proposed a new approach for the joint friction estimation of non-slip** walking
biped robots. The proposed approach is based on the combination of a measurement-based …

The present paper presents a novel method for estimating the joint friction of walking bipeds.
It combines a measurement-based method with an adaptive model-based method to …