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Multi-contact heavy object pushing with a centaur-type humanoid robot: Planning and control

"Multi-contact heavy object pushing with a centaur-type humanoid robot: Planning and control for a real demonstrator", Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli and Nikos G. Tsagarakis - IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 859-866, April 2020 Link to paper: https://ieeexplore.ieee.org/abstract/document/8957267

Source: Enrico Mingo Hoffman YouTube channel video.

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