Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot´s feet and (iii) joint´s limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.