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Performing large step-ups is a challenging task for a humanoid robot. Itrequires the robot to perform motions at the limit of its reachable workspacewhile straining to move its body upon the obstacle. This paper presents anon-linear trajectory optimization method for generating step-up motions. Weadopt a simplified model of the centroidal dynamics to generate feasible Centerof Mass trajectories aimed at reducing the torques required for the step-upmotion. The activation and deactivation of contacts at both feet are consideredexplicitly. The output of the planner is a Center of Mass trajectory plus anoptimal duration for each walking phase. These desired values are stabilized bya whole-body controller that determines a set of desired joint torques. Weexperimentally demonstrate that by using trajectory optimization techniques,the maximum torque required to the full-size humanoid robot Atlas can bereduced up to 20% when performing a step-up motion.

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas