Humanoid robot HRP-4 keeps balance on mobile ground

The HRP-4 humanoid robot keeps balance on a moving plank. The robot’s objective is to keep its pelvis at a desired position in the inertial frame. To do so, it applies feedback control on its divergent component of motion (DCM) to decide compensating forces. It then applies these forces to the ground by whole-body admittance control (using foot, leg and center-of-mass strategies). - Technical details: - C code of the controller: