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Pré-Publication, Document De Travail Année : 2018

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

Stabilisation de montée d'escalier pour le robot humanoïde HRP-4 par contrôle en admittance corps-complet

全身アドミッタンス制御に基づくヒューマノイドロボットHRP-4の階段登り安定化

Résumé

This paper considers dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. Apart from the fact that HRP-4 had never been challenged to this scenario before, we share experimental knowledge gathered in achieving this task. We also show how walking stabilization based on linear inverted pendulum tracking can be extended with quadratic programming-based wrench distribution and a whole-body admittance controller that relies on both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other of these two approaches, experiments suggest that their combination can improve tracking performance. We demonstrate this solution in a hardware experiment where HRP-4 climbs a staircase with 18.5-cm steps, and release our walking controller as open source software.
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Dates et versions

hal-01875387 , version 1 (17-09-2018)
hal-01875387 , version 2 (01-03-2019)
hal-01875387 , version 3 (17-09-2019)
hal-01875387 , version 4 (10-10-2019)
hal-01875387 , version 5 (15-11-2019)
hal-01875387 , version 6 (14-03-2020)
hal-01875387 , version 7 (08-10-2021)

Identifiants

Citer

Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier. Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control. 2018. ⟨hal-01875387v1⟩
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