Online learning of a full body push recovery controller for omnidirectional walking

SJ Yi, BT Zhang, D Hong… - 2011 11th IEEE-RAS …, 2011 - ieeexplore.ieee.org
Bipedal humanoid robots are inherently unstable to external perturbations, especially when
they are walking on uneven terrain in the presence of unforeseen collisions. In this paper,
we present a push recovery controller for position-controlled humanoid robots which is
tightly integrated with an omnidirectional walk controller. The high level push recovery
controller learns to integrate three biomechanically motivated push recovery strategies with
a zero moment point based omnidirectional walk controller. Reinforcement learning is used …

[CITATION][C] Online learning of a full body push recovery controller for omnidirectional walking

Y Seung-Joon, Z Byoung-Tak, D Hong, D Lee - IEEE-RAS International Conference …, 2011
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