Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots

Hervé Audren 1 Abderrahmane Kheddar 1, 2 Pierre Gergondet 1
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper we provide hindsight on how to use the information provided by the explicit computation of the stability polygon and build on task-based QP controllers to achieve both stable multi-contact slow transitions and force limitation with a level of force control. This entails computing stability polygons with unilateral and bilateral contacts and devising a method to continuously constrain the CoM position throughout multi-contact motion in order to effectively regulate the forces applied on the environment while avoiding hard constraints on the CoM and discontinuity between stances.
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Hervé Audren, Abderrahmane Kheddar, Pierre Gergondet. Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots. Humanoids, Nov 2016, Cancun, Mexico. pp.1037-1044, ⟨10.1109/HUMANOIDS.2016.7803399⟩. ⟨lirmm-01256512v2⟩

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