2019
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
ICRA 2019poster
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 lin…