We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In particular, we extend walkingstabilization based on linear inverted pendulum tracking by quadratic programming-based wrench distribution and a whole-body admittance controller that applies both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other, our experience suggests that the combination of these two approaches improves tracking performance. We demonstrate this solution in an on-site experiment where HRP-4 climbs an industrial staircase with 18.5 cm high steps, and release our walking controller as open source software.

翻译：我们认为,与HRP-4类人造机器人一起进行动态楼梯攀升是空中客车制造使用案例示范器的一部分。我们分享为完成这项任务而收集的实验知识,而HRP-4以前从未遇到过这样的挑战。特别是,我们扩展了以线性倒向弹道跟踪为基础的行进稳定化,通过基于二次编程的扳手分布和一个应用终端效应器和COM战略的全机接收控制器进行线性倒转式跟踪。虽然现有的稳定器往往使用一种或另一种方法,但我们的经验表明,这两种方法的结合可以改善跟踪性能。我们在一次现场实验中展示了这一解决方案,HRP-4在18.5厘米高的阶梯上攀爬工业楼梯,并释放出作为开放源软件的行进控制器。