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

Stéphane Caron (1) , Abderrahmane Kheddar (1, 2) , Olivier Tempier (3)

1 IDH - Interactive Digital Humans
2 CNRS-AIST JRL - Joint Robotics Laboratory
3 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In particular, we extend walking stabilization based on linear inverted pendulum tracking by quadratic programming-based wrench distribution and a whole-body admittance controller that applies both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other, our experience suggests that the combination of these two approaches improves tracking performance. We demonstrate this solution in an on-site experiment where HRP-4 climbs an industrial staircase with 18.5 cm high steps, and release our walking controller as open source software.

Domaines: Robotique [cs.RO]

Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier. Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control. IEEE International Conference on Robotics and Automation, May 2019, Montréal, France. ⟨10.1109/ICRA.2019.8794348⟩. ⟨hal-01875387v6⟩