*Push recovery is a vital aspect of balance stability control in biped robots.  In this work, the response of a biped system to unexpected external perturbations is analyzed for different tasks and controllers using criteria based on balanced and steppable regions.  The steppable region for a given step length and the balanced regions for single and double support contact are constructed for a biped robot with a complete formulation of its system dynamics, kinematic limits, and actuation limits.  These regions are applied to a comparative analysis of general push recovery capability during walking between the biped robot and humans and also between steppability and capturability.  For the latter comparison, the steppable region is compared with the capturability of a reduced-order model to demonstrate the contribution of steppability as a complementary concept and general extension of capturability.  The double support balanced region is used directly to evaluate the performance of different controllers during a double support balancing task.  A default gyro feedback controller is compared with an implemented hip, knee, and ankle strategy-based controller.  The proposed approaches are applicable to the analysis of any task and controller in general, provided that the appropriate regions are constructed. *


Stability Region-Based Analysis of Walking and Push Recovery Control

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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