Humanoid push recovery control in case of multiple non-coplanar contacts

D. Mansour (1) , A. Micaelli (1) , P. Lemerle (2)

1 DIASI - Département Intelligence Ambiante et Systèmes Interactifs
2 INRS ( Vandoeuvre lès Nancy) - Institut national de recherche et de sécurité (Vandoeuvre lès Nancy)

This paper presents a method for humanoid push recovery in the general context of multiple non-coplanar contacts. The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system. The controller uses a simple model based approach to determine the necessity of support change and in this case to approximate a new contact position that allows to stabilize the system. The controller is tested on a simulated humanoid robot and it succeeds in stabilizing the robot in coplanar and non-coplanar environments.

Keywords: Contact position; Humanoid robot; Non-coplanar; Push recoveries; Simple modeling; Whole body; Anthropomorphic robots; Intelligent robots; Kinetics; Recovery; Controllers

Domains: Engineering Sciences [physics]

D. Mansour, A. Micaelli, P. Lemerle. Humanoid push recovery control in case of multiple non-coplanar contacts. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, 2013, Tokyo, Japan. pp.4137-4144, ⟨10.1109/IROS.2013.6696949⟩. ⟨cea-01813734⟩