Stair Climbing Stabilization of the HRP-4 Humanoid Robot

Talk given at the CNRS-AIST Joint Robotics Laboratory (JRL) on 11 December 2018 and at the University of Tokyo on 14 December 2018.


In this talk, we will discuss stair climbing experiments carried out with the HRP-4 humanoid as part of an Airbus manufacturing use case. Our solution is based on linear inverted pendulum tracking, quadratic-programming wrench distribution and a whole-body admittance controller that relies on both end-effector and CoM strategies. After presenting these components, we will open up the discussion on the interplay between end-effector and CoM strategies, as well as their potential applications in multi-contact.


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