Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areas.

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. 5107-5112 2015 ICRA https://doi.org/10.1109/ICRA.2015.7139910 conf/icra/2015 db/conf/icra/icra2015.html#CaronPN15