Multi-contact planning and control for humanoid robots: Design and validation of a complete framework

• DOI: 10.1016/j.robot.2023.104448
• Publication Date: 2023-05-11T01:45:04Z
• Authors: Paolo Ferrari; Luca Rossini; Francesco Ruscelli; Arturo Laurenzi; Giuseppe Oriolo; Nikos G. Tsagarakis; Enrico Mingo Hoffman

In this paper, we consider the problem of generating appropriate motions for a torque-controlled humanoid robot that is assigned multi-contact loco-manipulation task, i.e., task requires to move within environment by repeatedly establishing and breaking multiple, non-coplanar contacts. To end, present complete planning control framework multi-limbed robotic systems, such as humanoids. The layer works offline consists two sequential modules: first, stance planner computes sequence feasible contact combinations; then, whole-body finds collision-free realize them while respecting physical limitations robot. For challenging posed first stage, propose novel randomized approach does not require specification pre-designed potential contacts or any kind pre-computation. produces online torque commands enable execute planned guaranteeing closed-loop balance. It relies on modules, switching reactive balancing module; their combined action allows it withstand possible execution inaccuracies, external disturbances, modeling uncertainties. Numerical experimental results obtained COMAN+, designed at Istituto Italiano di Tecnologia, validate our tasks different complexity.