@inbook{7efc056e3e2747eb8d542c4be260521e,
title = "Momentum-Centered control of contact interactions",
abstract = "The control and planning of interaction forces is fundamental for locomotion and manipulation tasks since it is through the interaction with the environment that a robot can walk forward or manipulate objects. In this chapter we present a control and planning strategy focused on the control of interaction forces to generate multi-contact whole-body behaviors. Centered around the robot momentum dynamics, our approach consists of a hierarchical inverse dynamics controller that treats the control of the robot{\textquoteright}s momentum as a contact force task and a trajectory optimization algorithm that can generate desired whole-body motions, momentum and desired contact forces for multiple contacts. Experimental results demonstrate the capabilities of the approach on a humanoid robot.",
author = "Ludovic Righetti and Alexander Herzog",
year = "2017",
doi = "10.1007/978-3-319-51547-2_14",
language = "English (US)",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer Verlag",
pages = "339--359",
booktitle = "Springer Tracts in Advanced Robotics",
}