Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM
Gyunghoon Park,Jung Hoon Kim,Joonhee Jo,Yonghwan Oh,Gyunghoon Park,Jung Hoon Kim,Joonhee Jo,Yonghwan Oh
This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for "hybrid" inverted pendulum model of the biped, where taking a new step implicitly yields a discrete jump of the tracking error. This interpretation offers a Lyapunov-based approach to react...
