WholeBody Control of Humanoid Robot in 3D MultiContact under Contact Wrench Constraints Including Joint Load Reduction with SelfCollision and Internal Wrench Distribution In this paper, we propose an approach for online wholebody control of positioncontrolled humanoid robot with 3D multicontact to cope with contact wrench constraints and joint overload. In our method, robots are controlled under contact wrench constraints with three features: 1) internal wrench control to reduce joint load and prolong the time in which the highload postures can be maintained 2) feasible utilization of selfcollision to reduce joint load by turning off joint servo gains 3) handling degenerated degree of freedom by solving a quadratic optimization problem integrating wrench distribution and inverse kinematics in which internal wrench is controlled only in controllable directions.With our methods, HRP2JSKNTS could pick up an object under a desk with squatting with the back of the upper leg on the back of the lower leg without sliding at the right arm. We also evaluated the effectiveness of our control to reduce joint load with another experiment.

Agile Standingup Control of Humanoids: Energybased Reactive Contact Wrench Optimization with Strict Dynamic Consistency This paper presents a dynamic wholebody control method for humanoids to render agile and stable standingup motion based on energy concepts. First, to cope with the standingup problem with multiple contacts in hierarchical tasks, an enhanced operationalspace based wholebody control (WBC) framework is proposed, which offers optimal torque resolutions guaranteeing strict dynamic consistency with inequality constraints formulated by quadratic programming. Second, agile standingup control strategy with dynamic push and rise actions is newly developed based on the notion of the total energy. The optimal pushing wrenches at contacts are computed to obtain sufficient energy to accelerate the centerofmass (CoM) of the robot as quick as possible, and the total energy is then controlled to attain rapid riseup motion and to stabilize the body of the robot. Consequently, the robot can effectively and actively stand up to recover from a certain pose in which cannot be accomplished by any quasistatic motion. The proposed method is numerically experimented and validated with dynamic parameters from the real humanoid COMAN, fulfilling different types of standingup actions.