Fast rejection of external small impulse on biped robot

During biped robot moving, it is hard to avoid external impulse. If biped robot receives external impulse, its joint velocity has abrupt changes. As a result, biped robot deviates from normal status, to quickly reject external impulse, impulse model of biped robot is conducted, and compensation acceleration to each joint is calculated. Changes of joint angle and joint angle velocity are eliminated. Finally the rejecting method is proved effective by simulation result of biped robot.