Bipedal robot push recovery control mimicking human reaction

Abstract

In this paper, we present a trajectory generation system including a push-recovery trajectory generator to handle the push-recovery problems. We analyze the human reactions to external pushes, and construct controller mimicking human reaction in realizing on biped robot system. In the experimental scenario, we provide disturbances from planar directions to evaluate the feasibility of the system. The proposed push-recovery system based on preview control trajectory generator has been realized on the bipedal robot developed in our NTU-iCeiRA lab.