Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario

Standing-up is a task that humanoids need to be able perform in order employed real-world scenarios. This paper proposes new robust strategy for humanoid stand up challenging scenarios where no completely preplanned motion can accomplish the same task. exploits concept of three-dimensional divergent component and passivity-based whole-body control. The latter firstly maximizes push forces applied robot's center mass make agile recovery motion. Then, during rising phase, it reduces these zero stabilizes robot an upward position. Optimization centroidal angular momentum fully integrated into proposed standing-up control create trajectories hip upper body joints online. effectiveness method validated simulations experiments on TORO.