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...ible problem with the DBFC-VMC as presented. If the object is heavy enough to tip the robot over, adjustments such as leaning backwards or moving a foot to reshape the base of support may be required =-=[18]-=-. However, with proper placement of the COM and feet, DBFC is a simple choice for determining full body joint torques. Future work using DBFC will include the implementation of walking and step recove...

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... of projection was introduced in [10] and further investigated in [11]. The solution we choose is to use a stack of tasks solver based on generalized inverse kinematics called hppGik and presented in =-=[12]-=-. A task is a function f : C −→ R that we would like to bring to zero, i.e to solve f(q) = 0, q ∈ C. Suppose we have sampled a random configuration qs. From this configuration we want to compute a sta...

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...eration system for commanding an HRP-2 humanoid robot to open a fridge. To choose a standing position for HRP-2 from which it is able to execute the task, a heuristic approach is used. Yoshida et al. =-=[13]-=- reach for target end-effector positions with an HRP-2 humanoid robot. A generalized inverse kinematics is combined with an heuristic approach to support polygon reshaping and stepping. III. PROBLEM A...

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...x due to the high number of DOF and additional constraints regarding the balance of the humanoid system. While also Jacobian-based methods have been presented to generate whole-body motions [5], [6], =-=[7]-=-, randomized, samplingbased approaches have the ability to cope with arbitrary collision environments also containing local minima. The contribution of our work is a planning system for whole-body mot...

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...ponding to the nominal walk pattern of the robot. Given the footsteps, we compute a ZMP trajectory, and a preview controller outputs a corresponding CoM trajectory. We use the implementation shown in =-=[17]-=- to solve a prioritized inverse kinematics problem. The stack of tasks applied to the robot is - in decreasing priority order: 1) Position and orientation of the moving foot, 2) Horizontal position of...

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...ermine models for balance and stepping [66]. Planning that considers the future has shown that sometimes the robot’s task, reaching for a heavy object for example, may require a step to avoid falling =-=[142]-=-. Reflexes to deal with slipping and tripping have also been considered for hopping robots [12]. In addition, in extreme circumstances, taking a step can be used to redirect a fall from colliding with...

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...animate the path found in the previous section, we use a prioritized inverse kinematic solver that merges dynamic walk generation [7] with operational space task completion. It was first presented in =-=[26]-=-, a exhaustive description of it can be found in [9]. B. Footsteps and Stability Constraints The path of the bounding box around the robot is converted into a stack of footprints. The distance between...

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...ion [29]. Mansard et al. [30] proposed a task sequencing scheme to achieve several tasks including walking and reaching at the same time. We have also developed a taskdriven support polygon reshaping =-=[31]-=- that enables a wholebody tasks as introduced later in section VIII. There are several task-specific whole-body motions that have been intensively investigated: pushing [32], [33], [34], and lifting [...