Résumé
Impact-aware tasks (i.e. on purpose impacts) are not handled in
multi-objective whole body controllers of hu-manoid robots. This leads to the
fact that a humanoid robot typically operates at near-zero velocity to interact
with the external environment. We explicitly investigate the propagation of the
impact-induced velocity and torque jumps along the structure linkage and
propose a set of constraints that always satisfy the hardware limits, sustain
already established contacts and the stability measure, i.e. the zero moment
point condition. Without assumptions on the impact location or timing, our
proposed controller enables humanoid robots to generate non-zero contact
velocity without breaking the established contacts or falling. The novelty of
our approach lies in building on existing continuous dynamics whole body
multi-objective controller without the need of reset-maps or hybrid control.