Walking and stair climbing stabilization for position-controlled biped robots

Talk given at Wandercraft on 19 March 2019.


In this talk, we will see the walking and stair climbing stabilizer implemented on the HRP-4 humanoid robot as part of the final demonstrator for an Airbus manufacturing use case. Our solution is based on DCM feedback control, quadratic-programming wrench distribution and a whole-body admittance controller that combines three kinds of tasks: single-effector CoP control at each foot, multi-effector foot pressure control during double-support phases, and CoM admittance control.


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