By Topic

A new optimization based approach for push recovery in case of multiple noncoplanar contacts

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Mansour, D. ; Interactive Simulation Lab., CEA LIST, Fonte Nay Aux Roses, France ; Micaelli, A. ; Escande, A. ; Lemerle, P.

This paper presents a new approach for humanoid push recovery in a generalized noncoplanar multicontact context. Our approach is based on a simplified model and consists in stabilizing the perturbed system while maintaining fixed contacts with the environment or by changing a contact configuration when needed to achieve stabilization. A first step of our strategy chooses the optimal contact to change when needed. A second step stabilizes the system while maintaining fixed contacts, when possible or by calculating the minimum change in the position of the optimal contact, capable of stabilizing the system.

Published in:

Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on

Date of Conference:

26-28 Oct. 2011