# Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution

Adrien Pajon, Stéphane Caron, Giovanni De Magistris, Sylvain Miossec and Abderrahmane Kheddar. Humanoids 2017, Birmingham, United Kingdom, November 2017.

## Abstract¶

Soft soles absorb impacts and cast ground un-evenness during locomotion on rough terrains. However, they introduce passive degrees of freedom (deformations under the feet) that complexify the tasks of state estimation and overall robot stabilization. We address this problem by developing a control loop that stabilizes humanoid robots when walking with soft soles on flat and uneven terrain. Our closed-loop controller minimizes the errors on the center of mass (COM) and the zero moment point (ZMP) with an admittance control of the feet based on a simple deformation estimator. We demonstrate its effectiveness in real experiments on the HRP-4 humanoid.

## BibTeX¶

@inproceedings{pajon2017humanoids,
title = {{Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution}},
author = {Pajon, Adrien and Caron, St{\'e}phane and De Magistris, Giovanni and Miossec, Sylvain and Kheddar, Abderrahmane},
booktitle = {IEEE-RAS International Conference on Humanoid Robots},
year = {2017},
month = nov,
url = {https://hal.archives-ouvertes.fr/hal-01576516},
doi = {10.1109/HUMANOIDS.2017.8246909},
}


## Discussion ¶

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