In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. In this letter, we propose a bipedal control strategy for humanoid loco-manipulation that can cope with such external forces. First, the basic formulas of the bipedal dynamics, i.e., linear inverted pendulum mode and divergent component of motion, are derived, taking into account the effects of external manipulation forces. Then, we propose a pattern generator to plan center of mass trajectories consistent with the reference trajectory of the manipulation forces, and a stabilizer to compensate for the error between desired and actual manipulation forces. The effectiveness of our controller is assessed both in simulation and loco-manipulation experiments with real humanoid robots.
View on arXiv@article{murooka2025_2505.24116,
title={ Humanoid Loco-Manipulations Pattern Generation and Stabilization Control },
author={ Masaki Murooka and Kevin Chappellet and Arnaud Tanguy and Mehdi Benallegue and Iori Kumagai and Mitsuharu Morisawa and Fumio Kanehiro and Abderrahmane Kheddar },
journal={arXiv preprint arXiv:2505.24116},
year={ 2025 }
}