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• W2539915646 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." @default.
• W2539915646 created "2016-11-04" @default.
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• W2539915646 date "2007-11-01" @default.
• W2539915646 modified "2023-10-01" @default.
• W2539915646 title "Humanoid push recovery" @default.
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• W2539915646 doi "https://doi.org/10.1109/ichr.2007.4813931" @default.
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