| Autor: |
Adrien Escande, Pierre Lemerle, Alain Micaelli, Darine Mansour |
| Rok vydání: |
2011 |
| Předmět: |
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| Zdroj: |
Humanoids |
| DOI: |
10.1109/humanoids.2011.6100838 |
| Popis: |
This paper presents a new approach for humanoid push recovery in a generalized noncoplanar multicontact context. Our approach is based on a simplified model and consists in stabilizing the perturbed system while maintaining fixed contacts with the environment or by changing a contact configuration when needed to achieve stabilization. A first step of our strategy chooses the optimal contact to change when needed. A second step stabilizes the system while maintaining fixed contacts, when possible or by calculating the minimum change in the position of the optimal contact, capable of stabilizing the system. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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