Omnidirectional Humanoid Balance Control: Multiple Strategies for Reacting to a Push
نویسندگان
چکیده
We develop and evaluate humanoid balance controllers that can recover from unexpected external perturbations of varying magnitudes in arbitrary directions. Balance strategies explored include ankle and hip strategies for in-place balance, as well as single-step, double-step, and multi-step balance recovery. Simulation results are provided for a 30 DOF humanoid.
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