@Article{yoshida:auro:2010,
  author    = {Yoshida, Eiichi and Poirier, Mathieu and Laumond, Jean-Paul and Kanoun, Oussama and Lamiraux, Florent and Alami, Rachid and Yokoi, Kazuhito},
  title     = {Pivoting based manipulation by a humanoid robot},
  journal   = {Autonomous Robots},
  year      = {2010},
  volume    = {28},
  number    = {1},
  pages     = {77--88},
  month     = {January},
  doi       = {10.1007/s10514-009-9143-x},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/Yoshida09AURO.pdf},
  keywords  = {Manipulation, Humanoid, Motion planning, Whole-body motion},
  abstract  = {In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a \textquotedblleft pivoting\textquotedblright  manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments.},
  publisher = {Springer},
  address   = {Van Godewijckstraat 30, 3311 GZ Dordrecht, Netherlands}
}