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• W2079445024 abstract "This paper presents a method for humanoid push recovery in the general context of multiple non-coplanar contacts. The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system. The controller uses a simple model based approach to determine the necessity of support change and in this case to approximate a new contact position that allows to stabilize the system. The controller is tested on a simulated humanoid robot and it succeeds in stabilizing the robot in coplanar and non-coplanar environments." @default.
• W2079445024 created "2016-06-24" @default.
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• W2079445024 date "2013-11-01" @default.
• W2079445024 modified "2023-09-28" @default.
• W2079445024 title "Humanoid push recovery control in case of multiple non-coplanar contacts" @default.
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• W2079445024 doi "https://doi.org/10.1109/iros.2013.6696949" @default.
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