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Push recovery is an important capability that needs to be included while developing a robust humanoid robot walking scheme. In this paper we propose an overall control system and a push recovery controller for humanoid robot walking. When the robot is pushed, the algorithm will modify the walking phase to maintain walking, while considering the practical constraints. 3D simulation results of the walking...
Research of bipedal walking has been motivated by its great flexible in rough terrain walking, as well as its benefits to prosthesis development. This paper aims to achieve coordination of central pattern generator (CPG) and asymptotically stable walking behavior. CPG is always referred as several oscillators with coupled mutual inhibition. In this paper, the oscillator model proposed by Matsuoka...
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