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About this paper
Dario Valenzuela, Jeeseop Kim
CRISP models the torso and arms as separate dynamic subsystems, linking them through rigid-contact and shared-grasp constraints so interaction wrenches are optimized with motion and support forces. Simulation shows optimized end-effector wrenches tracking independent contact measurements as payload mass changes. On a Unitree G1, tracking and balance are demonstrated under a no-slip disturbance; wrench validation is simulation-only.
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