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