Position control of the center of mass for articulated figures in multiple support

We extend a recent approach for the position control of the center of mass for any tree-structured articulated figure in a multiple support context. Our approach fits into existing high level interfaces of behavioral control of human figures; it brings the necessary realism for static positioning according to the mass distribution of the figure. The single support case is first recalled prior to the presentation of the mass distribution partitioning and the general case of multiple support. Simulations of 3D reaching behaviors are presented in single and multiple support.

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