Stair Climbing Stabilization of the HRP-4 Humanoid Robot

Abstract¶

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.

Content¶

Slides

References¶

	Stair climbing experiments with HRP-4
	Walking trajectory generation with height variations