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UBC CS TR-2006-11 Summary

Omnidirectional Humanoid Balance Control:Multiple Strategies for Reacting to a Push, June 07, 2006 KangKang Yin and Michiel van de Panne, 6 pages

We develop and evaluate humanoid balance controllers that can recover from unexpected external perturbations of varying magnitudes in arbitrary directions. Balance strategies explored include ankle and hip strategies for in-place balance, as well as single-step, double-step, and multi-step balance recovery. Simulation results are provided for a 30 DOF humanoid.


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