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Conference papers
Humanoid push recovery control in case of multiple non-coplanar contacts
Abstract : 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.
https://hal-cea.archives-ouvertes.fr/cea-01813734
Contributor : Léna Le Roy <>
Submitted on : Tuesday, June 12, 2018 - 3:30:55 PM
Last modification on : Friday, June 25, 2021 - 9:48:06 AM
Contributor : Léna Le Roy <>
Submitted on : Tuesday, June 12, 2018 - 3:30:55 PM
Last modification on : Friday, June 25, 2021 - 9:48:06 AM