Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion

Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control dynamic multi-contact motion. The proposed method features the drastic reduction of computational cost by using preview instead conventional model predictive that considers constraints all sample times. By combining with state feedback robustness disturbances wrench distribution satisfying contact constraints, we show robot can stably perform variety motions through simulation experiments.