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We consider dynamic stair climbing with the HRP-4 humanoid robot as part ofan Airbus manufacturing use-case demonstrator. We share experimental knowledgegathered so as to achieve this task, which HRP-4 had never been challenged tobefore. In particular, we extend walkingstabilization based on linear invertedpendulum tracking by quadratic programming-based wrench distribution and awhole-body admittance controller that applies both end-effector and CoMstrategies. While existing stabilizers tend to use either one or the other, ourexperience suggests that the combination of these two approaches improvestracking performance. We demonstrate this solution in an on-site experimentwhere HRP-4 climbs an industrial staircase with 18.5 cm high steps, and releaseour walking controller as open source software.

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control