Reachability Enhancement of SURENA Mini Humanoid Robot Using Model PredictiveControl Path Planning in a Hierarchical Stack of Tasks

In this paper, a whole body motion generation method isintroduced that enables the robot to step towards a target toincrease its reachable area whenever needed. The methodused for generating the stepping motion is based on modelpredictive control (MPC), a very efficient path planningmethod that ensures the stability during the walk motion.Several tasks such as position of center of mass, position ofthe feet and the reaching hand motion are taken intoaccount. The results show that the introduced method isuseful for enabling the robot to perform tasks which are notfeasible without extending the support polygon.