LQP-Based Controller Design for Humanoid Whole-Body Motion

Motion synthesis is a central question in humanoid robotics research. The present paper proposes a generic approach exploiting a quadratic programming method for solving the problem of motion coordination under physical constraints. Details about the problem formulation for dealing with sequences of complex activities are given. The method is illustrated in several examples using the iCub robot. We will show how whole-body control under multiple contact constraints can be achieved. We will also discuss how it is possible to organize the priorities between the tasks in this framework to balance multiple objectives.

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