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Conference Papers Year : 2013

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

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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.
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Dates and versions

cea-01813734 , version 1 (12-06-2018)

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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⟩

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