Abstract
AbstractThis chapter provides the underlying models for deriving the Whole-Body Control framework in Chaps. 6 and 7. Section 3.1 gives a brief overview on rigid body transformations in order to introduce the equations of motion of humanoid robots in Sect. 3.2. In multi-contact balancing, the distribution of forces and torques among the contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment. Section 3.3 provides a mathematical description of this so-called Wrench Distribution Problem. The physical properties of the involved contacts are modeled and studied in Sects. 3.4 to 3.6.
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