Continuous steps toward humanoid push recovery

摘要

Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem, Continuous Steps method is proposed to solve this problem in this paper. We present simulation of a simple humanoid that can recover from a high magnitude push by using continuous steps. Future work involves extending the modeling to arbitrary direction pushes and applying the method to the real humanoid robots.