Improved Zero Step Push Recovery with a Unified Reduced Order Model of Standing Balance
Thomas Huckell,Amy R. Wu,Thomas Huckell,Amy R. Wu
Standing balance for legged robots can be achieved through regulating the center of pressure (ankle strategy), the angular momentum about the center of mass (hip strategy), and the magnitude of ground reaction force (variable height strategy). Prevalent reduced order models used to model legged robots at most only capture two of these strategies, and the contribution of the three available strateg...
