Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary account sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. this letter, we propose bipedal control strategy that can cope with forces. First, the basic formulas of dynamics, i.e., linear inverted pendulum mode and divergent component motion, are derived, taking into effects manipulation Then, pattern generator plan center mass trajectories consistent reference trajectory forces, stabilizer compensate error between desired actual The effectiveness our controller assessed both in simulation experiments real robots.