Modeling a bipedal humanoid robot using inverted pendulum towards push recovery

Abstract

Push recovery is an important technology needs to be developed for the effective use of bipedal humanoid robot in the household applications. In this paper, a three mass inverted pendulum model equivalent to Humanoid Open Architecture Platform (HOAP -2) has been developed and the effectiveness of the model has been demonstrated using a software framework known as WEBOTS. It has been developed as a test bed for the development of sophisticated Push recovery techniques for HOAP-2 humanoid robot. Functionality of this model is general and adaptable to any kind of three mass models. Ankle strategy technique has been implemented to verify the correctness of the model. The correctness of the model has been verified successfully by the simulation results.