Humanoid push recovery

By Benjamin J. Stephens. IEEE-RAS International Conference on Humanoid Robots, 2007

307 citations recorded by the source corpus.

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Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “For the horizontal torque components, we assume a bang-bang input profile, as used in [6], [19].”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “widely used in analysis of push recovery and balance ([201, 72, 78, 196]).”
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “For the horizontal torque components, we assume a bang-bang input profile, as used in [50, 51].”
Control of Instantaneously Coupled Systems applied to humanoid walking (2010, background): “Manipulation of angular momentum, however, can be useful for recovering from large perturbations, as rotational accelerations cause a temporary shift in the CoM without moving the center of pressure [20].”
Dynamic Balance Force Control for compliant humanoid robots (2010, background): “While humanoid robots are very complex systems, the dynamics that govern balance are often described using simple models of the center of mass (COM) [1].”