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Push Recovery by stepping for humanoid robots with force controlled joints

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2 Author(s)
Benjamin J. Stephens ; Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA ; Christopher G. Atkeson

In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery motions after a large disturbance. Results are presented from experiments on the Sarcos Primus humanoid robot that uses hydraulic actuators instrumented with force feedback control.

Published in:

2010 10th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

6-8 Dec. 2010