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Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great challenge for traversal. To tackle this problem, we propose an optimized algorithm for evaluating the full actuatable wrench polytope for arbitrary contact scenarios. With our improved analysis algorithm, the torques for each joint of the robot can be calculated within a control frequency of 49 Hz. The achieved speedup allows for deployment within a regular control loop for actuating robot poses for different contact

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