In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the Chebyshev center. Our solution is formulated as a quadratic programming problem without a priori computation of balance regions. We assess our approach with experiments highlighting switches between fixed and sliding contact modes in multi-contact configurations. A humanoid robot demonstrates such contact interchanges from fully-fixed to multi-sliding and also shuffling of the foot. The scenarios illustrate the performance of our control scheme in achieving the desired forces, CoM position attractor, and planned trajectories while actively maintaining balance.

中文翻译：

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可互换固定和滑动单边接触下的类人动物控制

在这封信中，我们提出了在多触点设置下针对人形机器人的全身控制策略，该策略可在主动平衡下在固定触点和滑动触点之间进行切换。我们基于切比雪夫中心实时计算安全的质心位置和接触点的扳手分布。我们的解决方案被公式化为二次规划问题，而无需事先计算平衡区域。我们通过在多触点配置中突出显示固定和滑动触点模式之间的切换的实验来评估我们的方法。类人机器人展示了这种接触方式，从完全固定到多次滑动以及脚的改头换面。这些场景说明了我们的控制方案在实现所需力，CoM位置吸引器，