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Humanoid Push Recovery Benjamin Stephens
 

Summary: Humanoid Push Recovery
Benjamin Stephens
The Robotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213, USA
bstephens@cmu.edu
http://www.cs.cmu.edu/bstephe1
Abstract-- We extend simple models previously developed for
humanoids to large push recovery. Using these simple models,
we develop analytic decision surfaces that are functions of
reference points, such as the center of mass and center of
pressure, that predict whether or not a fall is inevitable. We
explore three strategies for recovery: 1) using ankle torques, 2)
moving internal joints, and 3) taking a step. These models can
be used in robot controllers or in analysis of human balance
and locomotion.
I. INTRODUCTION
We study humanoids as a way to understand humans.
Any technology that is applied to aid humanoid motion
can potentially be applied to help elderly or persons with

  

Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University

 

Collections: Computer Technologies and Information Sciences; Engineering