Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios

Saeid Samadi, Stéphane Caron, Arnaud Tanguy and Abderrahmane Kheddar. ICRA 2020, May 2020.


This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (CSA) for multiple fixed and intentionally sliding contacts. To select the most appropriate CoM position within CSA, we account for (i) constraints of multiple fixed and sliding contacts, (ii) desired wrench distribution for contacts, and (iii) desired CoM position (eventually dictated by other tasks). These are formulated as a quadratic programming (QP) optimization problems. We illustrate our approach with pushing against a wall and wiping, and conducted experiments using the HRP-4 humanoid robot.



  title = {Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios},
  author = {Samadi, Saeid and Caron, St{\'e}phane and Tanguy, Arnaud and Kheddar, Abderrahmane},
  booktitle = {IEEE International Conference on Robotics and Automation},
  url = {},
  year = {2020},
  month = may,
  doi = {10.1109/ICRA40945.2020.9197253},


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