Impact-aware tasks are generally ignored in multi-objective whole body controllers of humanoid robots, which leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external environment.
We explicitly investigate the propagation of the impact-induced velocity and torque jumps along the structure linkage, see mc_impact_predictor and propose a set of constraints that always keep the hardware limits, contact maintenance conditions and the stability measure, i.e. the zero moment point condition.