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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.
Date of Conference: 26-28 Oct. 2011