Humanoid robot push recovery through foot placement

Abstract

This paper presents biped robot push recovery through foot placement. The main challenge in foot placement approach i.e. direction and size of step to be taken is estimated based on inverted pendulum model considering change in kinetic and potential energies in case of external push. The direction and strength of push in our real robot is detected through Attitude and Heading Reference System (AHRS) and the balance is recovered by foot placement in appropriate direction with calculated step size.