# 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.

## 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.

## Discussion ¶

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