Humanoid robots are meant to take over task which are dangerous or too physically demanding for humans. To accomplish this, the robot must be able to balance robustly in challenging terrain as e.g. stairs, industrial ladders, or debris. In order to gain more robustness, the robot can use multiple contacts (not only the feet but also the hands) to support itself. This video contains several experiments with the humanoid robot TORO developed by DLR, which demonstrates the performance and robustness of a passivitybased balancing controller utilizing multiple contacts.
An indepth discussion of the method is presented in the paper ‘PassivityBased WholeBody Balancing for TorqueControlled Humanoid Robots in MultiContact Scenarios’, IJRR 2016. DOI: 10.1177/0278364916653815