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In this paper, we devise methods for the multi- objective control of humanoidrobots, a.k.a. prioritized whole- body controllers, that achieve efficiency androbustness in the algorithmic computations. We use a form of whole-bodycontrollers that is very general via incorporating centroidal momentumdynamics, operational task priorities, contact re- action forces, and internalforce constraints. First, we achieve efficiency by solving a quadratic programthat only involves the floating base dynamics and the reaction forces. Second,we achieve computational robustness by relaxing task accelerations such thatthey comply with friction cone constraints. Finally, we incorporate methods forsmooth contact transitions to enhance the control of dynamic locomotionbehaviors. The proposed methods are demonstrated both in simulation and in realexperiments using a passive-ankle bipedal robot.

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints