Abstact: The robots with high Degrees of Freedom (DoF) such as humanoids and mobile manipulators are expected to perform multiple tasks simultaneously. Hierarchical Quadratic Programming (HQP) can effectively compute a solution for strictly prioritized tasks. However, the continuity of control input is not guaranteed when the priorities of the tasks are modified during operation. This paper proposes a continuous task…

Abstract Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots. Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially, unstable contact between the foot and the ground caused by joint elasticity is a critical problem to decrease the stability of position-controlled humanoid robots. In this…