Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura. Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areas. In IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015. pages 5107-5112, IEEE, 2015. [doi]
Abstract is missing.